Merged master

src/drivers/airspeed/airspeed.h

@@ -107,6 +107,10 @@ private:
 	RingBuffer		*_reports;
 	perf_counter_t		_buffer_overflows;
 
+	/* this class has pointer data members and should not be copied */
+	Airspeed(const Airspeed&);
+	Airspeed& operator=(const Airspeed&);
+
 protected:
 	virtual int	probe();
 

src/drivers/airspeed/module.mk

@@ -36,3 +36,5 @@
 #
 
 SRCS			= airspeed.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/bma180/module.mk

@@ -38,3 +38,5 @@
 MODULE_COMMAND	= bma180
 
 SRCS		= bma180.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/device/device.h

@@ -240,6 +240,7 @@ private:
 	 * @param context	Pointer to the interrupted context.
 	 */
 	static void	dev_interrupt(int irq, void *context);
+
 };
 
 /**
@@ -469,6 +470,10 @@ private:
 	 * @return		OK, or -errno on error.
 	 */
 	int		remove_poll_waiter(struct pollfd *fds);
+
+	/* do not allow copying this class */
+	CDev(const CDev&);
+	CDev operator=(const CDev&);
 };
 
 /**
@@ -538,6 +543,10 @@ private:
 } // namespace device
 
 // class instance for primary driver of each class
-#define CLASS_DEVICE_PRIMARY 0
+enum CLASS_DEVICE {
+	CLASS_DEVICE_PRIMARY=0,
+	CLASS_DEVICE_SECONDARY=1,
+	CLASS_DEVICE_TERTIARY=2
+};
 
 #endif /* _DEVICE_DEVICE_H */

src/drivers/device/i2c.h

@@ -138,6 +138,9 @@ private:
 	uint16_t		_address;
 	uint32_t		_frequency;
 	struct i2c_dev_s	*_dev;
+
+	I2C(const device::I2C&);
+	I2C operator=(const device::I2C&);
 };
 
 } // namespace device

src/drivers/device/ringbuffer.h

@@ -162,6 +162,10 @@ private:
 	volatile unsigned	_tail;	/**< removal point in _item_size units */
 
 	unsigned		_next(unsigned index);
+
+	/* we don't want this class to be copied */
+	RingBuffer(const RingBuffer&);
+	RingBuffer operator=(const RingBuffer&);
 };
 
 RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :

src/drivers/device/spi.h

@@ -129,10 +129,15 @@ private:
 	uint32_t		_frequency;
 	struct spi_dev_s	*_dev;
 
+	/* this class does not allow copying */
+	SPI(const SPI&);
+	SPI operator=(const SPI&);
+
 protected:
 	int			_bus;
 
 	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
 };
 
 } // namespace device

src/drivers/drv_accel.h

@@ -81,7 +81,9 @@ struct accel_scale {
 /*
  * ObjDev tag for raw accelerometer data.
  */
-ORB_DECLARE(sensor_accel);
+ORB_DECLARE(sensor_accel0);
+ORB_DECLARE(sensor_accel1);
+ORB_DECLARE(sensor_accel2);
 
 /*
  * ioctl() definitions

src/drivers/drv_baro.h

@@ -63,7 +63,8 @@ struct baro_report {
 /*
  * ObjDev tag for raw barometer data.
  */
-ORB_DECLARE(sensor_baro);
+ORB_DECLARE(sensor_baro0);
+ORB_DECLARE(sensor_baro1);
 
 /*
  * ioctl() definitions

src/drivers/drv_gyro.h

@@ -81,7 +81,9 @@ struct gyro_scale {
 /*
  * ObjDev tag for raw gyro data.
  */
-ORB_DECLARE(sensor_gyro);
+ORB_DECLARE(sensor_gyro0);
+ORB_DECLARE(sensor_gyro1);
+ORB_DECLARE(sensor_gyro2);
 
 /*
  * ioctl() definitions

src/drivers/drv_mag.h

@@ -79,8 +79,9 @@ struct mag_scale {
 /*
  * ObjDev tag for raw magnetometer data.
  */
-ORB_DECLARE(sensor_mag);
-
+ORB_DECLARE(sensor_mag0);
+ORB_DECLARE(sensor_mag1);
+ORB_DECLARE(sensor_mag2);
 
 /*
  * mag device types, for _device_id

src/drivers/drv_pwm_output.h

@@ -202,6 +202,9 @@ ORB_DECLARE(output_pwm);
 /** force safety switch off (to disable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
 
+/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
+#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
+
 /*
  *
  *

src/drivers/drv_tone_alarm.h

@@ -149,6 +149,7 @@ enum {
 	TONE_GPS_WARNING_TUNE,
 	TONE_ARMING_FAILURE_TUNE,
 	TONE_PARACHUTE_RELEASE_TUNE,
+	TONE_EKF_WARNING_TUNE,
 	TONE_NUMBER_OF_TUNES
 };
 

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -286,6 +286,9 @@ void	info();
 
 /**
  * Start the driver.
+ *
+ * This function only returns if the sensor is up and running
+ * or could not be detected successfully.
  */
 void
 start(int i2c_bus)

src/drivers/ets_airspeed/module.mk

@@ -36,6 +36,9 @@
 #
 
 MODULE_COMMAND		= ets_airspeed
-MODULE_STACKSIZE	= 2048
 
 SRCS			= ets_airspeed.cpp
+
+MODULE_STACKSIZE	= 1200
+
+MAXOPTIMIZATION	 = -Os

src/drivers/hil/module.mk

@@ -38,3 +38,5 @@
 MODULE_COMMAND	= hil
 
 SRCS		= hil.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/hmc5883/hmc5883.cpp

@@ -162,6 +162,7 @@ private:
 
 	orb_advert_t		_mag_topic;
 	orb_advert_t		_subsystem_pub;
+	orb_id_t		_mag_orb_id;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
@@ -337,6 +338,9 @@ private:
 	 */
 	 int 			check_offset();
 
+	/* this class has pointer data members, do not allow copying it */
+	HMC5883(const HMC5883&);
+	HMC5883 operator=(const HMC5883&);
 };
 
 /*
@@ -347,14 +351,17 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
 HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
 	I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000),
+	_work{},
 	_measure_ticks(0),
 	_reports(nullptr),
+	_scale{},
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
 	_collect_phase(false),
 	_class_instance(-1),
 	_mag_topic(-1),
 	_subsystem_pub(-1),
+	_mag_orb_id(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -423,6 +430,20 @@ HMC5883::init()
 
 	_class_instance = register_class_devname(MAG_DEVICE_PATH);
 
+	switch (_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_mag_orb_id = ORB_ID(sensor_mag0);
+			break;
+
+		case CLASS_DEVICE_SECONDARY:
+			_mag_orb_id = ORB_ID(sensor_mag1);
+			break;
+
+		case CLASS_DEVICE_TERTIARY:
+			_mag_orb_id = ORB_ID(sensor_mag2);
+			break;
+	}
+
 	ret = OK;
 	/* sensor is ok, but not calibrated */
 	_sensor_ok = true;
@@ -867,7 +888,8 @@ HMC5883::collect()
 	struct {
 		int16_t		x, y, z;
 	} report;
-	int	ret = -EIO;
+
+	int	ret;
 	uint8_t	cmd;
 	uint8_t check_counter;
 
@@ -945,16 +967,16 @@ HMC5883::collect()
 	// apply user specified rotation
 	rotate_3f(_rotation, new_report.x, new_report.y, new_report.z);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 
 		if (_mag_topic != -1) {
 			/* publish it */
-			orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+			orb_publish(_mag_orb_id, _mag_topic, &new_report);
 		} else {
-			_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
+			_mag_topic = orb_advertise(_mag_orb_id, &new_report);
 
 			if (_mag_topic < 0)
-				debug("failed to create sensor_mag publication");
+				debug("ADVERT FAIL");
 		}
 	}
 
@@ -1157,7 +1179,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 out:
 
 	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
-		warn("WARNING: failed to set new scale / offsets for mag");
+		warn("failed to set new scale / offsets for mag");
 	}
 
 	/* set back to normal mode */
@@ -1341,8 +1363,8 @@ namespace hmc5883
 #endif
 const int ERROR = -1;
 
-HMC5883	*g_dev_int;
-HMC5883	*g_dev_ext;
+HMC5883	*g_dev_int = nullptr;
+HMC5883	*g_dev_ext = nullptr;
 
 void	start(int bus, enum Rotation rotation);
 void	test(int bus);
@@ -1353,6 +1375,9 @@ void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver
+ * is either successfully up and running or failed to start.
  */
 void
 start(int bus, enum Rotation rotation)
@@ -1378,6 +1403,11 @@ start(int bus, enum Rotation rotation)
 			errx(0, "already started internal");
 		g_dev_int = new HMC5883(PX4_I2C_BUS_ONBOARD, HMC5883L_DEVICE_PATH_INT, rotation);
 		if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+
+			/* tear down the failing onboard instance */
+			delete g_dev_int;
+			g_dev_int = nullptr;
+
 			if (bus == PX4_I2C_BUS_ONBOARD) {
 				goto fail;
 			}
@@ -1443,7 +1473,7 @@ test(int bus)
 	int fd = open(path, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", path);
+		err(1, "%s open failed (try 'hmc5883 start')", path);
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));

src/drivers/hmc5883/module.mk

@@ -37,7 +37,8 @@
 
 MODULE_COMMAND	= hmc5883
 
-# XXX seems excessive, check if 2048 is sufficient
-MODULE_STACKSIZE	= 4096
-
 SRCS		= hmc5883.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/drivers/l3gd20/l3gd20.cpp

@@ -213,6 +213,7 @@ private:
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 	orb_advert_t		_gyro_topic;
+	orb_id_t		_orb_id;
 	int			_class_instance;
 
 	unsigned		_current_rate;
@@ -330,15 +331,22 @@ private:
 	 * @return 0 on success, 1 on failure
 	 */
 	 int 			self_test();
+
+	/* this class does not allow copying */
+	L3GD20(const L3GD20&);
+	L3GD20 operator=(const L3GD20&);
 };
 
 L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
 	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
+	_call{},
 	_call_interval(0),
 	_reports(nullptr),
+	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
+	_orb_id(nullptr),
 	_class_instance(-1),
 	_current_rate(0),
 	_orientation(SENSOR_BOARD_ROTATION_DEFAULT),
@@ -399,21 +407,32 @@ L3GD20::init()
 
 	_class_instance = register_class_devname(GYRO_DEVICE_PATH);
 
+	switch (_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_orb_id = ORB_ID(sensor_gyro0);
+			break;
+
+		case CLASS_DEVICE_SECONDARY:
+			_orb_id = ORB_ID(sensor_gyro1);
+			break;
+
+		case CLASS_DEVICE_TERTIARY:
+			_orb_id = ORB_ID(sensor_gyro2);
+			break;
+	}
+
 	reset();
 
 	measure();
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct gyro_report grp;
+	_reports->get(&grp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct gyro_report grp;
-		_reports->get(&grp);
-
-		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
-
-		if (_gyro_topic < 0)
-			debug("failed to create sensor_gyro publication");
+	_gyro_topic = orb_advertise(_orb_id, &grp);
 
+	if (_gyro_topic < 0) {
+		debug("failed to create sensor_gyro publication");
 	}
 
 	ret = OK;
@@ -931,9 +950,9 @@ L3GD20::measure()
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	if (_gyro_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
+		orb_publish(_orb_id, _gyro_topic, &report);
 	}
 
 	_read++;
@@ -990,6 +1009,9 @@ void	info();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver
+ * started or failed to detect the sensor.
  */
 void
 start(bool external_bus, enum Rotation rotation)

src/drivers/l3gd20/module.mk

@@ -4,3 +4,7 @@
 
 MODULE_COMMAND	 = l3gd20
 SRCS		 = l3gd20.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/drivers/led/module.mk

@@ -36,3 +36,5 @@
 #
 
 SRCS		= led.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/lsm303d/lsm303d.cpp

@@ -284,6 +284,7 @@ private:
 	unsigned		_mag_samplerate;
 
 	orb_advert_t		_accel_topic;
+	orb_id_t		_accel_orb_id;
 	int			_accel_class_instance;
 
 	unsigned		_accel_read;
@@ -461,6 +462,10 @@ private:
 	 * @return		OK if the value can be supported.
 	 */
 	int			mag_set_samplerate(unsigned frequency);
+
+	/* this class cannot be copied */
+	LSM303D(const LSM303D&);
+	LSM303D operator=(const LSM303D&);
 };
 
 /**
@@ -485,29 +490,39 @@ private:
 	LSM303D				*_parent;
 
 	orb_advert_t			_mag_topic;
+	orb_id_t			_mag_orb_id;
 	int				_mag_class_instance;
 
 	void				measure();
 
 	void				measure_trampoline(void *arg);
+
+	/* this class does not allow copying due to ptr data members */
+	LSM303D_mag(const LSM303D_mag&);
+	LSM303D_mag operator=(const LSM303D_mag&);
 };
 
 
 LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
 	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
 	_mag(new LSM303D_mag(this)),
+	_accel_call{},
+	_mag_call{},
 	_call_accel_interval(0),
 	_call_mag_interval(0),
 	_accel_reports(nullptr),
 	_mag_reports(nullptr),
+	_accel_scale{},
 	_accel_range_m_s2(0.0f),
 	_accel_range_scale(0.0f),
 	_accel_samplerate(0),
 	_accel_onchip_filter_bandwith(0),
+	_mag_scale{},
 	_mag_range_ga(0.0f),
 	_mag_range_scale(0.0f),
 	_mag_samplerate(0),
 	_accel_topic(-1),
+	_accel_orb_id(nullptr),
 	_accel_class_instance(-1),
 	_accel_read(0),
 	_mag_read(0),
@@ -524,6 +539,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
 	_reg7_expected(0),
 	_accel_log_fd(-1),
 	_accel_logging_enabled(false),
+	_last_extreme_us(0),
 	_last_log_us(0),
 	_last_log_sync_us(0),
 	_last_log_reg_us(0),
@@ -611,34 +627,56 @@ LSM303D::init()
 	/* fill report structures */
 	measure();
 
-	if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct mag_report mrp;
+	_mag_reports->get(&mrp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct mag_report mrp;
-		_mag_reports->get(&mrp);
+	/* measurement will have generated a report, publish */
+	switch (_mag->_mag_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag0);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp);
+		case CLASS_DEVICE_SECONDARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag1);
+			break;
 
-		if (_mag->_mag_topic < 0)
-			debug("failed to create sensor_mag publication");
+		case CLASS_DEVICE_TERTIARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag2);
+			break;
+	}
 
+	_mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp);
+
+	if (_mag->_mag_topic < 0) {
+		warnx("ADVERT ERR");
 	}
 
 	_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
 
-	if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct accel_report arp;
+	_accel_reports->get(&arp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct accel_report arp;
-		_accel_reports->get(&arp);
+	/* measurement will have generated a report, publish */
+	switch (_accel_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_accel_orb_id = ORB_ID(sensor_accel0);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
+		case CLASS_DEVICE_SECONDARY:
+			_accel_orb_id = ORB_ID(sensor_accel1);
+			break;
 
-		if (_accel_topic < 0)
-			debug("failed to create sensor_accel publication");
+		case CLASS_DEVICE_TERTIARY:
+			_accel_orb_id = ORB_ID(sensor_accel2);
+			break;
+	}
 
+	_accel_topic = orb_advertise(_accel_orb_id, &arp);
+
+	if (_accel_topic < 0) {
+		warnx("ADVERT ERR");
 	}
 
 out:
@@ -1557,9 +1595,9 @@ LSM303D::measure()
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
-	if (_accel_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
+		orb_publish(_accel_orb_id, _accel_topic, &accel_report);
 	}
 
 	_accel_read++;
@@ -1634,9 +1672,9 @@ LSM303D::mag_measure()
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
-	if (_mag->_mag_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
+		orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report);
 	}
 
 	_mag_read++;
@@ -1730,6 +1768,7 @@ LSM303D_mag::LSM303D_mag(LSM303D *parent) :
 	CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
 	_parent(parent),
 	_mag_topic(-1),
+	_mag_orb_id(nullptr),
 	_mag_class_instance(-1)
 {
 }
@@ -1803,6 +1842,9 @@ void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver is
+ * up and running or failed to detect the sensor.
  */
 void
 start(bool external_bus, enum Rotation rotation)

src/drivers/lsm303d/module.mk

@@ -5,4 +5,6 @@
 MODULE_COMMAND	 = lsm303d
 SRCS		 = lsm303d.cpp
 
+MODULE_STACKSIZE	= 1200
 
+EXTRACXXFLAGS	= -Weffc++

src/drivers/md25/module.mk

@@ -40,3 +40,5 @@ MODULE_COMMAND		= md25
 
 SRCS			= md25.cpp \
 			  md25_main.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -92,7 +92,7 @@
 #include <drivers/airspeed/airspeed.h>
 
 /* I2C bus address is 1010001x */
-#define I2C_ADDRESS_MS4525DO	0x28	//0x51 /* 7-bit address. */
+#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
 #define PATH_MS4525		"/dev/ms4525"
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 #define I2C_ADDRESS_MS5525DSO	0x77	//0x77/* 7-bit address, addr. pin pulled low */
@@ -102,9 +102,9 @@
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
 
 /* Measurement rate is 100Hz */
-#define MEAS_RATE 100.0f
-#define MEAS_DRIVER_FILTER_FREQ 3.0f
-#define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
+#define MEAS_RATE 100
+#define MEAS_DRIVER_FILTER_FREQ 1.5f
+#define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
 
 class MEASAirspeed : public Airspeed
 {
@@ -140,9 +140,9 @@ extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
 	CONVERSION_INTERVAL, path),
 	_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
-	_t_system_power(-1)
+	_t_system_power(-1),
+	system_power{}
 {
-	memset(&system_power, 0, sizeof(system_power));
 }
 
 int
@@ -420,6 +420,9 @@ void	info();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver is up and running
+ * or failed to detect the sensor.
  */
 void
 start(int i2c_bus)

src/drivers/meas_airspeed/module.mk

@@ -36,6 +36,11 @@
 #
 
 MODULE_COMMAND		= meas_airspeed
-MODULE_STACKSIZE	= 2048
 
 SRCS			= meas_airspeed.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os

src/drivers/mpu6000/module.mk

@@ -37,7 +37,8 @@
 
 MODULE_COMMAND	= mpu6000
 
-# XXX seems excessive, check if 2048 is not sufficient
-MODULE_STACKSIZE	 = 4096
-
 SRCS		= mpu6000.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/drivers/mpu6000/mpu6000.cpp

@@ -215,6 +215,7 @@ private:
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
+	orb_id_t		_accel_orb_id;
 	int			_accel_class_instance;
 
 	RingBuffer		*_gyro_reports;
@@ -343,6 +344,9 @@ private:
 	*/
 	void _set_sample_rate(uint16_t desired_sample_rate_hz);
 
+	/* do not allow to copy this class due to pointer data members */
+	MPU6000(const MPU6000&);
+	MPU6000 operator=(const MPU6000&);
 };
 
 /**
@@ -367,8 +371,12 @@ protected:
 private:
 	MPU6000			*_parent;
 	orb_advert_t		_gyro_topic;
+	orb_id_t		_gyro_orb_id;
 	int			_gyro_class_instance;
 
+	/* do not allow to copy this class due to pointer data members */
+	MPU6000_gyro(const MPU6000_gyro&);
+	MPU6000_gyro operator=(const MPU6000_gyro&);
 };
 
 /** driver 'main' command */
@@ -378,13 +386,17 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
 	_gyro(new MPU6000_gyro(this, path_gyro)),
 	_product(0),
+	_call{},
 	_call_interval(0),
 	_accel_reports(nullptr),
+	_accel_scale{},
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(-1),
+	_accel_orb_id(nullptr),
 	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
+	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_sample_rate(1000),
@@ -498,31 +510,56 @@ MPU6000::init()
 
 	measure();
 
-	if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct accel_report arp;
+	_accel_reports->get(&arp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct accel_report arp;
-		_accel_reports->get(&arp);
+	/* measurement will have generated a report, publish */
+	switch (_accel_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_accel_orb_id = ORB_ID(sensor_accel0);
+			break;
+		
+		case CLASS_DEVICE_SECONDARY:
+			_accel_orb_id = ORB_ID(sensor_accel1);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
-
-		if (_accel_topic < 0)
-			debug("failed to create sensor_accel publication");
+		case CLASS_DEVICE_TERTIARY:
+			_accel_orb_id = ORB_ID(sensor_accel2);
+			break;
 
 	}
 
-	if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
+	_accel_topic = orb_advertise(_accel_orb_id, &arp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct gyro_report grp;
-		_gyro_reports->get(&grp);
+	if (_accel_topic < 0) {
+		warnx("ADVERT FAIL");
+	}
 
-		_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
 
-		if (_gyro->_gyro_topic < 0)
-			debug("failed to create sensor_gyro publication");
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct gyro_report grp;
+	_gyro_reports->get(&grp);
 
+	switch (_gyro->_gyro_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro0);
+			break;
+
+		case CLASS_DEVICE_SECONDARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro1);
+			break;
+
+		case CLASS_DEVICE_TERTIARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro2);
+			break;
+
+	}
+
+	_gyro->_gyro_topic = orb_advertise(_gyro->_gyro_orb_id, &grp);
+
+	if (_gyro->_gyro_topic < 0) {
+		warnx("ADVERT FAIL");
 	}
 
 out:
@@ -1345,14 +1382,14 @@ MPU6000::measure()
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
 
-	if (_accel_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+		orb_publish(_accel_orb_id, _accel_topic, &arb);
 	}
 
-	if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+		orb_publish(_gyro->_gyro_orb_id, _gyro->_gyro_topic, &grb);
 	}
 
 	/* stop measuring */
@@ -1373,6 +1410,7 @@ MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
 	CDev("MPU6000_gyro", path),
 	_parent(parent),
 	_gyro_topic(-1),
+	_gyro_orb_id(nullptr),
 	_gyro_class_instance(-1)
 {
 }
@@ -1437,6 +1475,9 @@ void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
  */
 void
 start(bool external_bus, enum Rotation rotation)
@@ -1507,7 +1548,7 @@ test(bool external_bus)
 	int fd = open(path_accel, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
+		err(1, "%s open failed (try 'mpu6000 start')",
 		    path_accel);
 
 	/* get the driver */

src/drivers/ms5611/module.mk

@@ -38,3 +38,5 @@
 MODULE_COMMAND	= ms5611
 
 SRCS		= ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/ms5611/ms5611.cpp

@@ -300,12 +300,17 @@ MS5611::init()
 
 		ret = OK;
 
-		if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		switch (_class_instance) {
+			case CLASS_DEVICE_PRIMARY:
+				_baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp);
+				break;
+			case CLASS_DEVICE_SECONDARY:
+				_baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp);
+				break;
+		}
 
-			_baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp);
-
-			if (_baro_topic < 0)
-				debug("failed to create sensor_baro publication");
+		if (_baro_topic < 0) {
+			warnx("failed to create sensor_baro publication");
 		}
 
 	} while (0);
@@ -722,9 +727,17 @@ MS5611::collect()
 		report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
 
 		/* publish it */
-		if (_baro_topic > 0 && !(_pub_blocked)) {
+		if (!(_pub_blocked)) {
 			/* publish it */
-			orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
+			switch (_class_instance) {
+				case CLASS_DEVICE_PRIMARY:
+					orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report);
+					break;
+
+				case CLASS_DEVICE_SECONDARY:
+					orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report);
+					break;
+			}
 		}
 
 		if (_reports->force(&report)) {

src/drivers/pca8574/module.mk

@@ -4,3 +4,5 @@
 
 MODULE_COMMAND	 = pca8574
 SRCS		 = pca8574.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/px4flow/module.mk

@@ -38,3 +38,5 @@
 MODULE_COMMAND	= px4flow
 
 SRCS		= px4flow.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/px4fmu/fmu.cpp

@@ -179,6 +179,9 @@ private:
 	uint32_t	gpio_read(void);
 	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
 
+	/* do not allow to copy due to ptr data members */
+	PX4FMU(const PX4FMU&);
+	PX4FMU operator=(const PX4FMU&);
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -242,6 +245,7 @@ PX4FMU::PX4FMU() :
 	_task(-1),
 	_armed_sub(-1),
 	_outputs_pub(-1),
+	_armed{},
 	_num_outputs(0),
 	_primary_pwm_device(false),
 	_task_should_exit(false),
@@ -252,6 +256,7 @@ PX4FMU::PX4FMU() :
 	_groups_subscribed(0),
 	_control_subs{-1},
 	_poll_fds_num(0),
+	_pwm_limit{},
 	_failsafe_pwm{0},
 	_disarmed_pwm{0},
 	_num_failsafe_set(0),

src/drivers/px4fmu/module.mk

@@ -6,3 +6,5 @@ MODULE_COMMAND	 = fmu
 SRCS		 = fmu.cpp
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/drivers/px4io/module.mk

@@ -46,3 +46,5 @@ SRCS			= px4io.cpp \
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/drivers/px4io/px4io.cpp

@@ -453,6 +453,9 @@ private:
 	 */
 	void			io_handle_vservo(uint16_t vservo, uint16_t vrssi);
 
+	/* do not allow to copy this class due to ptr data members */
+	PX4IO(const PX4IO&);
+	PX4IO operator=(const PX4IO&);
 };
 
 namespace
@@ -496,6 +499,8 @@ PX4IO::PX4IO(device::Device *interface) :
 	_to_battery(0),
 	_to_servorail(0),
 	_to_safety(0),
+	_outputs{},
+	_servorail_status{},
 	_primary_pwm_device(false),
 	_lockdown_override(false),
 	_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
@@ -1144,6 +1149,12 @@ PX4IO::io_set_arming_state()
 		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 	}
 
+	if (armed.force_failsafe) {
+		set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	}
+
 	if (armed.ready_to_arm) {
 		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
 
@@ -1997,7 +2008,7 @@ PX4IO::print_status(bool extended_status)
 		((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
 		);
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s%s%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
 	       arming,
 	       ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		? " FMU_ARMED" : " FMU_DISARMED"),
 	       ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)		? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -2005,7 +2016,9 @@ PX4IO::print_status(bool extended_status)
 	       ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)		? " FAILSAFE_CUSTOM" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)	? " INAIR_RESTART_OK" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)	? " ALWAYS_PWM_ENABLE" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""));
+	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)		? " FORCE_FAILSAFE" : "")
+	       );
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
@@ -2217,6 +2230,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
+	case PWM_SERVO_SET_FORCE_FAILSAFE:
+		/* force failsafe mode instantly */
+		if (arg == 0) {
+			/* clear force failsafe flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
+		} else {
+			/* set force failsafe flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
+		}
+		break;
+
 	case DSM_BIND_START:
 
 		/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2419,7 +2443,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		break;
 
 	case PX4IO_CHECK_CRC: {
-		/* check IO firmware CRC against passed value */		
+		/* check IO firmware CRC against passed value */
 		uint32_t io_crc = 0;
 		ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
 		if (ret != OK)
@@ -2679,7 +2703,7 @@ checkcrc(int argc, char *argv[])
 	int fd = open(argv[1], O_RDONLY);
 	if (fd == -1) {
 		printf("open of %s failed - %d\n", argv[1], errno);
-		exit(1);			
+		exit(1);
 	}
 	const uint32_t app_size_max = 0xf000;
 	uint32_t fw_crc = 0;
@@ -2694,7 +2718,7 @@ checkcrc(int argc, char *argv[])
 	close(fd);
 	while (nbytes < app_size_max) {
 		uint8_t b = 0xff;
-		fw_crc = crc32part(&b, 1, fw_crc);			
+		fw_crc = crc32part(&b, 1, fw_crc);
 		nbytes++;
 	}
 
@@ -2707,7 +2731,7 @@ checkcrc(int argc, char *argv[])
 
 	if (ret != OK) {
 		printf("check CRC failed - %d\n", ret);
-		exit(1);			
+		exit(1);
 	}
 	printf("CRCs match\n");
 	exit(0);
@@ -2737,12 +2761,12 @@ bind(int argc, char *argv[])
 		pulses = DSMX_BIND_PULSES;
 	else if (!strcmp(argv[2], "dsmx8"))
 		pulses = DSMX8_BIND_PULSES;
-	else 
+	else
 		errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
 	// Test for custom pulse parameter
 	if (argc > 3)
 		pulses = atoi(argv[3]);
-	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) 
+	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
 		errx(1, "system must not be armed");
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
@@ -2944,7 +2968,7 @@ lockdown(int argc, char *argv[])
 				(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
 				warnx("ACTUATORS ARE NOW SAFE IN HIL.");
 			}
-			
+
 		} else {
 			errx(1, "driver not loaded, exiting");
 		}

src/drivers/px4io/px4io_serial.cpp

@@ -157,6 +157,10 @@ private:
 	perf_counter_t		_pc_idle;
 	perf_counter_t		_pc_badidle;
 
+	/* do not allow top copying this class */
+	PX4IO_serial(PX4IO_serial &);
+	PX4IO_serial& operator = (const PX4IO_serial &);
+
 };
 
 IOPacket PX4IO_serial::_dma_buffer;
@@ -173,7 +177,9 @@ PX4IO_serial::PX4IO_serial() :
 	_tx_dma(nullptr),
 	_rx_dma(nullptr),
 	_rx_dma_status(_dma_status_inactive),
-	_pc_txns(perf_alloc(PC_ELAPSED,		"io_txns     ")),
+	_bus_semaphore(SEM_INITIALIZER(0)),
+	_completion_semaphore(SEM_INITIALIZER(0)),
+	_pc_txns(perf_alloc(PC_ELAPSED, "io_txns     ")),
 	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
 	_pc_retries(perf_alloc(PC_COUNT,	"io_retries  ")),
 	_pc_timeouts(perf_alloc(PC_COUNT,	"io_timeouts ")),

src/drivers/px4io/px4io_uploader.cpp

@@ -65,7 +65,8 @@
 
 PX4IO_Uploader::PX4IO_Uploader() :
 	_io_fd(-1),
-	_fw_fd(-1)
+	_fw_fd(-1),
+	bl_rev(0)
 {
 }
 
@@ -204,12 +205,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 
 		if (bl_rev <= 2) {
 			ret = verify_rev2(fw_size);
-		} else if(bl_rev == 3) {
-			ret = verify_rev3(fw_size);
 		} else {
-			/* verify rev 4 and higher still uses the same approach and
-			 * every version *needs* to be verified.
-			 */
+			/* verify rev 3 and higher. Every version *needs* to be verified. */
 			ret = verify_rev3(fw_size);
 		}
 
@@ -249,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[])
 }
 
 int
-PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
+PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout)
 {
 	struct pollfd fds[1];
 
@@ -266,24 +263,24 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
 		return -ETIMEDOUT;
 	}
 
-	read(_io_fd, &c, 1);
+	read(_io_fd, c, 1);
 #ifdef UDEBUG
-	log("recv 0x%02x", c);
+	log("recv_bytes 0x%02x", c);
 #endif
 	return OK;
 }
 
 int
-PX4IO_Uploader::recv(uint8_t *p, unsigned count)
+PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
 {
+	int ret = OK;
 	while (count--) {
-		int ret = recv(*p++, 5000);
+		ret = recv_byte_with_timeout(p++, 5000);
 
 		if (ret != OK)
-			return ret;
+			break;
 	}
-
-	return OK;
+	return ret;
 }
 
 void
@@ -293,10 +290,10 @@ PX4IO_Uploader::drain()
 	int ret;
 
 	do {
-		// the small recv timeout here is to allow for fast
+		// the small recv_bytes timeout here is to allow for fast
 		// drain when rebooting the io board for a forced
 		// update of the fw without using the safety switch
-		ret = recv(c, 40);
+		ret = recv_byte_with_timeout(&c, 40);
 
 #ifdef UDEBUG
 		if (ret == OK) {
@@ -314,21 +311,19 @@ PX4IO_Uploader::send(uint8_t c)
 #endif
 	if (write(_io_fd, &c, 1) != 1)
 		return -errno;
-
 	return OK;
 }
 
 int
 PX4IO_Uploader::send(uint8_t *p, unsigned count)
 {
+	int ret;
 	while (count--) {
-		int ret = send(*p++);
-
+		ret = send(*p++);
 		if (ret != OK)
-			return ret;
+			break;
 	}
-
-	return OK;
+	return ret;
 }
 
 int
@@ -337,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout)
 	uint8_t c[2];
 	int ret;
 
-	ret = recv(c[0], timeout);
+	ret = recv_byte_with_timeout(c, timeout);
 
 	if (ret != OK)
 		return ret;
 
-	ret = recv(c[1], timeout);
+	ret = recv_byte_with_timeout(c + 1, timeout);
 
 	if (ret != OK)
 		return ret;
@@ -378,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
 	send(param);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t *)&val, sizeof(val));
+	ret = recv_bytes((uint8_t *)&val, sizeof(val));
 
 	if (ret != OK)
 		return ret;
@@ -419,12 +414,15 @@ PX4IO_Uploader::program(size_t fw_size)
 	int ret;
 	size_t sent = 0;
 
-	file_buf = (uint8_t *)malloc(PROG_MULTI_MAX);
+	file_buf = new uint8_t[PROG_MULTI_MAX];
 	if (!file_buf) {
 		log("Can't allocate program buffer");
 		return -ENOMEM;
 	}
 
+	ASSERT((fw_size & 3) == 0);
+	ASSERT((PROG_MULTI_MAX & 3) == 0);
+
 	log("programming %u bytes...", (unsigned)fw_size);
 
 	ret = lseek(_fw_fd, 0, SEEK_SET);
@@ -443,34 +441,26 @@ PX4IO_Uploader::program(size_t fw_size)
 			    (unsigned)sent,
 			    (int)count,
 			    (int)errno);
-		}
-
-		if (count == 0) {
-			free(file_buf);
-			return OK;
+			ret = -errno;
+			break;
 		}
 
 		sent += count;
 
-		if (count < 0)
-			return -errno;
-
-		ASSERT((count % 4) == 0);
-
 		send(PROTO_PROG_MULTI);
 		send(count);
-		send(&file_buf[0], count);
+		send(file_buf, count);
 		send(PROTO_EOC);
 
 		ret = get_sync(1000);
 
 		if (ret != OK) {
-			free(file_buf);
-			return ret;
+			break;
 		}
 	}
-	free(file_buf);
-	return OK;
+
+	delete [] file_buf;
+	return ret;
 }
 
 int
@@ -524,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size)
 		for (ssize_t i = 0; i < count; i++) {
 			uint8_t c;
 
-			ret = recv(c, 5000);
+			ret = recv_byte_with_timeout(&c, 5000);
 
 			if (ret != OK) {
 				log("%d: got %d waiting for bytes", sent + i, ret);
@@ -611,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
 	send(PROTO_GET_CRC);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t*)(&crc), sizeof(crc));
+	ret = recv_bytes((uint8_t*)(&crc), sizeof(crc));
 
 	if (ret != OK) {
 		log("did not receive CRC checksum");

src/drivers/px4io/uploader.h

@@ -74,20 +74,19 @@ private:
 		INFO_BOARD_REV		= 3,		/**< board revision */
 		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
 
-		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
-		READ_MULTI_MAX		= 60,		/**< protocol max is 255, something overflows with >= 64 */
+		PROG_MULTI_MAX		= 248,		/**< protocol max is 255, must be multiple of 4 */
 
 	};
 
 	int			_io_fd;
 	int			_fw_fd;
 
-	uint32_t	bl_rev; /**< bootloader revision */
+	uint32_t		bl_rev; /**< bootloader revision */
 
 	void			log(const char *fmt, ...);
 
-	int			recv(uint8_t &c, unsigned timeout);
-	int			recv(uint8_t *p, unsigned count);
+	int			recv_byte_with_timeout(uint8_t *c, unsigned timeout);
+	int			recv_bytes(uint8_t *p, unsigned count);
 	void			drain();
 	int			send(uint8_t c);
 	int			send(uint8_t *p, unsigned count);

src/drivers/rgbled/module.mk

@@ -4,3 +4,5 @@
 
 MODULE_COMMAND	 = rgbled
 SRCS		 = rgbled.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/roboclaw/module.mk

@@ -39,3 +39,5 @@ MODULE_COMMAND		= roboclaw
 
 SRCS			= roboclaw_main.cpp \
 			  RoboClaw.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -336,6 +336,7 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#";					//gps warning slow
 	_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
 	_default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag";			// parachute release
+	_default_tunes[TONE_EKF_WARNING_TUNE] = "MFT255L8ddd#d#eeff";				// ekf warning
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -348,6 +349,7 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning";	            // gps warning
 	_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure";            //fail to arm
 	_tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release";	// parachute release
+	_tune_names[TONE_EKF_WARNING_TUNE] = "ekf_warning";				// ekf warning
 }
 
 ToneAlarm::~ToneAlarm()

src/examples/matlab_csv_serial/matlab_csv_serial.c

@@ -0,0 +1,247 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.		 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file matlab_csv_serial_main.c
+ *
+ * Matlab CSV / ASCII format interface at 921600 baud, 8 data bits,
+ * 1 stop bit, no parity
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <float.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <drivers/drv_hrt.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <poll.h>
+
+__EXPORT int matlab_csv_serial_main(int argc, char *argv[]);
+static bool thread_should_exit = false;		/**< Daemon exit flag */
+static bool thread_running = false;		/**< Daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
+
+int matlab_csv_serial_thread_main(int argc, char *argv[]);
+static void usage(const char *reason);
+
+static void usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The daemon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn_cmd().
+ */
+int matlab_csv_serial_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start"))
+	{
+		if (thread_running)
+		{
+			warnx("already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		daemon_task = task_spawn_cmd("matlab_csv_serial",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 5,
+					 2000,
+					 matlab_csv_serial_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop"))
+	{
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status"))
+	{
+		if (thread_running) {
+			warnx("running");
+		} else {
+			warnx("stopped");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int matlab_csv_serial_thread_main(int argc, char *argv[])
+{
+
+	if (argc < 2) {
+		errx(1, "need a serial port name as argument");
+	}
+
+	const char* uart_name = argv[1];
+
+	warnx("opening port %s", uart_name);
+
+	int serial_fd = open(uart_name, O_RDWR | O_NOCTTY);
+
+	unsigned speed = 921600;
+
+	if (serial_fd < 0) {
+		err(1, "failed to open port: %s", uart_name);
+	}
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(serial_fd, &uart_config)) < 0) {
+		warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
+		close(serial_fd);
+		return -1;
+	}
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
+
+		/* Set baud rate */
+		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+			warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
+			close(serial_fd);
+			return -1;
+		}
+
+	}
+
+	if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERR SET CONF %s\n", uart_name);
+		close(serial_fd);
+		return -1;
+	}
+
+	/* subscribe to vehicle status, attitude, sensors and flow*/
+	struct accel_report accel0;
+	struct accel_report accel1;
+	struct gyro_report gyro0;
+	struct gyro_report gyro1;
+
+	/* subscribe to parameter changes */
+	int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0));
+	int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
+	int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0));
+	int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
+
+	thread_running = true;
+
+	while (!thread_should_exit)
+	{
+
+		/*This runs at the rate of the sensors */
+		struct pollfd fds[] = {
+				{ .fd = accel0_sub, .events = POLLIN }
+		};
+
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
+
+		if (ret < 0)
+		{
+			/* poll error, ignore */
+
+		}
+		else if (ret == 0)
+		{
+			/* no return value, ignore */
+			warnx("no sensor data");
+		}
+		else
+		{
+
+			/* accel0 update available? */
+			if (fds[0].revents & POLLIN)
+			{
+				orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0);
+				orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1);
+				orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0);
+				orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1);
+
+				// write out on accel 0, but collect for all other sensors as they have updates
+				dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw,
+					(int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw);
+			}
+
+		}
+	}
+
+	warnx("exiting");
+	thread_running = false;
+
+	fflush(stdout);
+	return 0;
+}
+
+

src/examples/matlab_csv_serial/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build position estimator
+#
+
+MODULE_COMMAND		= matlab_csv_serial
+
+SRCS		= matlab_csv_serial.c

src/lib/ecl/module.mk

@@ -39,3 +39,5 @@ SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
 			l1/ecl_l1_pos_controller.cpp
+
+MAXOPTIMIZATION	 = -Os

src/lib/external_lgpl/module.mk

@@ -46,3 +46,5 @@
 #
 
 SRCS		 = 	tecs/tecs.cpp
+
+MAXOPTIMIZATION	 = -Os

src/lib/mathlib/math/Matrix.hpp

@@ -69,27 +69,34 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * Initializes the elements to zero.
 	 */
-	MatrixBase() {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase() : 
+		data{},
+		arm_mat{M, N, &data[0][0]}
+	{
 	}
 
+	virtual ~MatrixBase() {};
+
 	/**
 	 * copyt ctor
 	 */
-	MatrixBase(const MatrixBase<M, N> &m) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const MatrixBase<M, N> &m) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, m.data, sizeof(data));
 	}
 
-	MatrixBase(const float *d) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float *d) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
-	MatrixBase(const float d[M][N]) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float d[M][N]) : 
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 

src/lib/mathlib/math/Vector.hpp

@@ -69,25 +69,32 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * initializes elements to zero
 	 */
-	VectorBase() {
-		arm_col = {N, 1, &data[0]};
+	VectorBase() :
+		data{},
+		arm_col{N, 1, &data[0]}
+	{
+
 	}
 
+	virtual ~VectorBase() {};
+
 	/**
 	 * copy ctor
 	 */
-	VectorBase(const VectorBase<N> &v) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const VectorBase<N> &v) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, v.data, sizeof(data));
 	}
 
 	/**
 	 * setting ctor
 	 */
-	VectorBase(const float d[N]) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const float d[N]) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 

src/lib/mathlib/math/filter/LowPassFilter2p.hpp

@@ -46,10 +46,18 @@ class __EXPORT LowPassFilter2p
 {
 public:
     // constructor
-    LowPassFilter2p(float sample_freq, float cutoff_freq) {
+    LowPassFilter2p(float sample_freq, float cutoff_freq) : 
+        _cutoff_freq(cutoff_freq),
+        _a1(0.0f),
+        _a2(0.0f),
+        _b0(0.0f),
+        _b1(0.0f),
+        _b2(0.0f),
+        _delay_element_1(0.0f),
+        _delay_element_2(0.0f)
+    {
         // set initial parameters
         set_cutoff_frequency(sample_freq, cutoff_freq);
-        _delay_element_1 = _delay_element_2 = 0;
     }
 
     /**

src/modules/commander/airspeed_calibration.cpp

@@ -186,7 +186,7 @@ int do_airspeed_calibration(int mavlink_fd)
 	usleep(500 * 1000);
 
 	calibration_counter = 0;
-	const int maxcount = 3000;
+	const unsigned maxcount = 3000;
 
 	/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
 	while (calibration_counter < maxcount) {

src/modules/commander/commander.cpp

@@ -124,7 +124,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT		(600 * 1000)		/**< consider the local or global position estimate invalid after 600ms */
+#define POSITION_TIMEOUT		(2 * 1000 * 1000)	/**< consider the local or global position estimate invalid after 600ms */
 #define FAILSAFE_DEFAULT_TIMEOUT	(3 * 1000 * 1000)	/**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
 #define RC_TIMEOUT			500000
 #define DL_TIMEOUT			5 * 1000* 1000
@@ -163,7 +163,8 @@ static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
 static int parachute_enabled = 0;
-static float eph_epv_threshold = 5.0f;
+static float eph_threshold = 5.0f;
+static float epv_threshold = 10.0f;
 
 static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
@@ -335,6 +336,7 @@ void print_status()
 {
 	warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
 	warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
+	warnx("avionics rail: %6.2f V", (double)status.avionics_power_rail_voltage);
 
 	/* read all relevant states */
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -546,24 +548,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
-#if 0
 	/* Flight termination */
-	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
-
-			//XXX: to enable the parachute, a param needs to be set
-			//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
-			if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
-				transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
-
+	case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
+			if (cmd->param1 > 0.5f) {
+				//XXX update state machine?
+				armed_local->force_failsafe = true;
+				warnx("forcing failsafe");
 			} else {
-				/* reject parachute depoyment not armed */
-				cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				armed_local->force_failsafe = false;
+				warnx("disabling failsafe");
 			}
-
+			cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
-#endif
 
 	case VEHICLE_CMD_DO_SET_HOME: {
 			bool use_current = cmd->param1 > 0.5f;
@@ -741,6 +738,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	// CIRCUIT BREAKERS
 	status.circuit_breaker_engaged_power_check = false;
+	status.circuit_breaker_engaged_airspd_check = false;
 
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -918,6 +916,11 @@ int commander_thread_main(int argc, char *argv[])
 	struct system_power_s system_power;
 	memset(&system_power, 0, sizeof(system_power));
 
+	/* Subscribe to actuator controls (outputs) */
+	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));
+
 	control_status_leds(&status, &armed, true);
 
 	/* now initialized */
@@ -977,6 +980,7 @@ int commander_thread_main(int argc, char *argv[])
 				param_get(_param_component_id, &(status.component_id));
 
 				status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
+				status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
 
 				status_changed = true;
 
@@ -1106,32 +1110,32 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update condition_global_position_valid */
 		/* hysteresis for EPH/EPV */
-		bool eph_epv_good;
+		bool eph_good;
 
 		if (status.condition_global_position_valid) {
-			if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
-				eph_epv_good = false;
+			if (global_position.eph > eph_threshold * 2.5f) {
+				eph_good = false;
 
 			} else {
-				eph_epv_good = true;
+				eph_good = true;
 			}
 
 		} else {
-			if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
-				eph_epv_good = true;
+			if (global_position.eph < eph_threshold) {
+				eph_good = true;
 
 			} else {
-				eph_epv_good = false;
+				eph_good = false;
 			}
 		}
 
-		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
+		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
 
 		/* check if GPS fix is ok */
 
 		/* update home position */
 		if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
-		    (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+		    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
 
 			home.lat = global_position.lat;
 			home.lon = global_position.lon;
@@ -1161,8 +1165,8 @@ int commander_thread_main(int argc, char *argv[])
 		/* hysteresis for EPH */
 		bool local_eph_good;
 
-		if (status.condition_global_position_valid) {
-			if (local_position.eph > eph_epv_threshold * 2.0f) {
+		if (status.condition_local_position_valid) {
+			if (local_position.eph > eph_threshold * 2.5f) {
 				local_eph_good = false;
 
 			} else {
@@ -1170,7 +1174,7 @@ int commander_thread_main(int argc, char *argv[])
 			}
 
 		} else {
-			if (local_position.eph < eph_epv_threshold) {
+			if (local_position.eph < eph_threshold) {
 				local_eph_good = true;
 
 			} else {
@@ -1199,13 +1203,17 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
 			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;
-				status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
+
+				/* get throttle (if armed), as we only care about energy negative throttle also counts */
+				float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
+				status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
 			}
 		}
 
@@ -1267,13 +1275,13 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* if battery voltage is getting lower, warn using buzzer, etc. */
-		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
+		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
 			low_battery_voltage_actions_done = true;
 			mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
 
-		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
+		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
 			critical_battery_voltage_actions_done = true;
 			mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
@@ -1412,8 +1420,12 @@ int commander_thread_main(int argc, char *argv[])
 				arming_state_changed = true;
 
 			} else if (arming_ret == TRANSITION_DENIED) {
-				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "arming state transition denied");
+				/*
+				 * the arming transition can be denied to a number of reasons:
+				 *  - pre-flight check failed (sensors not ok or not calibrated)
+				 *  - safety not disabled
+				 *  - system not in manual mode
+				 */
 				tune_negative(true);
 			}
 
@@ -1441,7 +1453,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* data links check */
 		bool have_link = false;
 		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
-			if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
+			if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
 				/* handle the case where data link was regained */
 				if (telemetry_lost[i]) {
 					mavlink_log_critical(mavlink_fd, "data link %i regained", i);
@@ -1494,7 +1506,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
 			if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
-			    (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+			    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
 
 				// TODO remove code duplication
 				home.lat = global_position.lat;

src/modules/commander/commander_helper.cpp

@@ -281,15 +281,17 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
 	}
 }
 
-float battery_remaining_estimate_voltage(float voltage, float discharged)
+float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
 {
 	float ret = 0;
 	static param_t bat_v_empty_h;
 	static param_t bat_v_full_h;
 	static param_t bat_n_cells_h;
 	static param_t bat_capacity_h;
-	static float bat_v_empty = 3.2f;
-	static float bat_v_full = 4.0f;
+	static param_t bat_v_load_drop_h;
+	static float bat_v_empty = 3.4f;
+	static float bat_v_full = 4.2f;
+	static float bat_v_load_drop = 0.06f;
 	static int bat_n_cells = 3;
 	static float bat_capacity = -1.0f;
 	static bool initialized = false;
@@ -297,23 +299,26 @@ float battery_remaining_estimate_voltage(float voltage, float discharged)
 
 	if (!initialized) {
 		bat_v_empty_h = param_find("BAT_V_EMPTY");
-		bat_v_full_h = param_find("BAT_V_FULL");
+		bat_v_full_h = param_find("BAT_V_CHARGED");
 		bat_n_cells_h = param_find("BAT_N_CELLS");
 		bat_capacity_h = param_find("BAT_CAPACITY");
+		bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP");
 		initialized = true;
 	}
 
 	if (counter % 100 == 0) {
 		param_get(bat_v_empty_h, &bat_v_empty);
 		param_get(bat_v_full_h, &bat_v_full);
+		param_get(bat_v_load_drop_h, &bat_v_load_drop);
 		param_get(bat_n_cells_h, &bat_n_cells);
 		param_get(bat_capacity_h, &bat_capacity);
 	}
 
 	counter++;
 
-	/* remaining charge estimate based on voltage */
-	float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
+	/* remaining charge estimate based on voltage and internal resistance (drop under load) */
+	float bat_v_full_dynamic = bat_v_full - (bat_v_load_drop * throttle_normalized);
+	float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty)) / (bat_n_cells * (bat_v_full_dynamic - bat_v_empty));
 
 	if (bat_capacity > 0.0f) {
 		/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */

src/modules/commander/commander_helper.h

@@ -80,8 +80,9 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
  *
  * @param voltage the current battery voltage
  * @param discharged the discharged capacity
+ * @param throttle_normalized the normalized throttle magnitude from 0 to 1. Negative throttle should be converted to this range as well, as it consumes energy.
  * @return the estimated remaining capacity in 0..1
  */
-float battery_remaining_estimate_voltage(float voltage, float discharged);
+float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized);
 
 #endif /* COMMANDER_HELPER_H_ */

src/modules/commander/commander_params.c

@@ -65,7 +65,17 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
  *
  * @group Battery Calibration
  */
-PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
+PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
+
+/**
+ * Voltage drop per cell on 100% load
+ *
+ * This implicitely defines the internal resistance
+ * to maximum current ratio and assumes linearity.
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
 
 /**
  * Number of cells.

src/modules/commander/gyro_calibration.cpp

@@ -92,7 +92,7 @@ int do_gyro_calibration(int mavlink_fd)
 		unsigned poll_errcount = 0;
 
 		/* subscribe to gyro sensor topic */
-		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
+		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0));
 		struct gyro_report gyro_report;
 
 		while (calibration_counter < calibration_count) {
@@ -104,7 +104,7 @@ int do_gyro_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
+				orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report);
 				gyro_scale.x_offset += gyro_report.x;
 				gyro_scale.y_offset += gyro_report.y;
 				gyro_scale.z_offset += gyro_report.z;

src/modules/commander/mag_calibration.cpp

@@ -145,7 +145,7 @@ int do_mag_calibration(int mavlink_fd)
 	}
 
 	if (res == OK) {
-		int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
+		int sub_mag = orb_subscribe(ORB_ID(sensor_mag0));
 		struct mag_report mag;
 
 		/* limit update rate to get equally spaced measurements over time (in ms) */
@@ -170,7 +170,7 @@ int do_mag_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
+				orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag);
 
 				x[calibration_counter] = mag.x;
 				y[calibration_counter] = mag.y;

src/modules/commander/state_machine_helper.cpp

@@ -110,8 +110,8 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 	ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
 
 	transition_result_t ret = TRANSITION_DENIED;
-
 	arming_state_t current_arming_state = status->arming_state;
+	bool feedback_provided = false;
 
 	/* only check transition if the new state is actually different from the current one */
 	if (new_arming_state == current_arming_state) {
@@ -156,13 +156,15 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 
 					// Fail transition if pre-arm check fails
 					if (prearm_ret) {
+						/* the prearm check already prints the reject reason */
+						feedback_provided = true;
 						valid_transition = false;
 
 					// Fail transition if we need safety switch press
 					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
-
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
+						feedback_provided = true;
 						valid_transition = false;
 					}
 
@@ -173,6 +175,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 						if (!status->condition_power_input_valid) {
 
 							mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
+							feedback_provided = true;
 							valid_transition = false;
 						}
 
@@ -182,6 +185,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 							(status->avionics_power_rail_voltage < 4.9f))) {
 
 							mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
+							feedback_provided = true;
 							valid_transition = false;
 						}
 					}
@@ -200,6 +204,8 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 
 		/* Sensors need to be initialized for STANDBY state */
 		if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
+			mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
+			feedback_provided = true;
 			valid_transition = false;
 		}
 
@@ -216,11 +222,14 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 	}
 
 	if (ret == TRANSITION_DENIED) {
-		static const char *errMsg = "INVAL: %s - %s";
+		const char * str = "INVAL: %s - %s";
+		/* only print to console here by default as this is too technical to be useful during operation */
+		warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
 
-		mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
-
-		warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+		/* print to MAVLink if we didn't provide any feedback yet */
+		if (!feedback_provided) {
+			mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
+		}
 	}
 
 	return ret;
@@ -648,8 +657,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
 		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
-			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
-			mavlink_log_critical(mavlink_fd, "hold still while arming");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE, hold still");
 			/* this is frickin' fatal */
 			failed = true;
 			goto system_eval;
@@ -661,7 +669,9 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		goto system_eval;
 	}
 
-	if (!status->is_rotary_wing) {
+	/* Perform airspeed check only if circuit breaker is not
+	 * engaged and it's not a rotary wing */
+	if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) {
 		/* accel done, close it */
 		close(fd);
 		fd = orb_subscribe(ORB_ID(airspeed));

src/modules/controllib/block/Block.hpp

@@ -93,6 +93,11 @@ protected:
 	List<uORB::SubscriptionBase *> _subscriptions;
 	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
+
+private:
+	/* this class has pointer data members and should not be copied (private constructor) */
+	Block(const control::Block&);
+	Block operator=(const control::Block&);
 };
 
 class __EXPORT SuperBlock :

src/modules/controllib/blocks.cpp

@@ -121,6 +121,9 @@ int blockLimitSymTest()
 
 float BlockLowPass::update(float input)
 {
+	if (!isfinite(getState())) {
+		setState(input);
+	}
 	float b = 2 * float(M_PI) * getFCut() * getDt();
 	float a = b / (1 + b);
 	setState(a * input + (1 - a)*getState());
@@ -293,7 +296,18 @@ int blockIntegralTrapTest()
 
 float BlockDerivative::update(float input)
 {
-	float output = _lowPass.update((input - getU()) / getDt());
+	float output;
+	if (_initialized) {
+		output = _lowPass.update((input - getU()) / getDt());
+	} else {
+		// if this is the first call to update
+		// we have no valid derivative
+		// and so we use the assumption the
+		// input value is not changing much,
+		// which is the best we can do here.
+		output = 0.0f;
+		_initialized = true;
+	}
 	setU(input);
 	return output;
 }

src/modules/controllib/blocks.hpp

@@ -114,7 +114,7 @@ public:
 // methods
 	BlockLowPass(SuperBlock *parent, const char *name) :
 		Block(parent, name),
-		_state(0),
+		_state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */),
 		_fCut(this, "") // only one parameter, no need to name
 	{};
 	virtual ~BlockLowPass() {};
@@ -238,9 +238,25 @@ public:
 	BlockDerivative(SuperBlock *parent, const char *name) :
 		SuperBlock(parent, name),
 		_u(0),
+		_initialized(false),
 		_lowPass(this, "LP")
 	{};
 	virtual ~BlockDerivative() {};
+
+	/**
+	 * Update the state and get current derivative
+	 *
+	 * This call updates the state and gets the current
+	 * derivative. As the derivative is only valid
+	 * on the second call to update, it will return
+	 * no change (0) on the first. To get a closer
+	 * estimate of the derivative on the first call,
+	 * call setU() one time step before using the
+	 * return value of update().
+	 *
+	 * @param input the variable to calculate the derivative of
+	 * @return the current derivative
+	 */
 	float update(float input);
 // accessors
 	void setU(float u) {_u = u;}
@@ -249,6 +265,7 @@ public:
 protected:
 // attributes
 	float _u; /**< previous input */
+	bool _initialized;
 	BlockLowPass _lowPass; /**< low pass filter */
 };
 

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -112,6 +112,10 @@ public:
 	 */
 	FixedwingEstimator();
 
+	/* we do not want people ever copying this class */
+	FixedwingEstimator(const FixedwingEstimator& that) = delete;
+	FixedwingEstimator operator=(const FixedwingEstimator&) = delete;
+
 	/**
 	 * Destructor, also kills the sensors task.
 	 */
@@ -371,9 +375,10 @@ FixedwingEstimator::FixedwingEstimator() :
 	_mag_offsets({}),
 
 	#ifdef SENSOR_COMBINED_SUB
-	_sensor_combined({}),
+	_sensor_combined{},
 	#endif
 
+	_pos_ref{},
 	_baro_ref(0.0f),
 	_baro_ref_offset(0.0f),
 	_baro_gps_offset(0.0f),
@@ -390,12 +395,18 @@ FixedwingEstimator::FixedwingEstimator() :
 /* states */
 	_baro_init(false),
 	_gps_initialized(false),
+	_gps_start_time(0),
+	_filter_start_time(0),
+	_last_sensor_timestamp(0),
+	_last_run(0),
 	_gyro_valid(false),
 	_accel_valid(false),
 	_mag_valid(false),
 	_ekf_logging(true),
 	_debug(0),
 	_mavlink_fd(-1),
+	_parameters{},
+	_parameter_handles{},
 	_ekf(nullptr),
 	_velocity_xy_filtered(0.0f),
 	_velocity_z_filtered(0.0f),
@@ -619,10 +630,10 @@ FixedwingEstimator::check_filter_state()
 		rep.health_flags |= (((uint8_t)ekf_report.posHealth)	<< 1);
 		rep.health_flags |= (((uint8_t)ekf_report.hgtHealth)	<< 2);
 		rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive)	<< 3);
-		// rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
-		// rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
-		// rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
-		// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
+		rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
+		rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
+		rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
+		rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
 
 		rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout)	<< 0);
 		rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout)	<< 1);
@@ -693,7 +704,7 @@ FixedwingEstimator::task_main()
 	/*
 	 * do subscriptions
 	 */
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1041,7 +1052,7 @@ FixedwingEstimator::task_main()
 			orb_check(_baro_sub, &baro_updated);
 
 			if (baro_updated) {
-				orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 
 				_ekf->baroHgt = _baro.altitude;
 
@@ -1133,7 +1144,7 @@ FixedwingEstimator::task_main()
 					initVelNED[2] = _gps.vel_d_m_s;
 
 					// Set up height correctly
-					orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+					orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 					_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
 					_baro_gps_offset = _baro.altitude - gps_alt;
 					_ekf->baroHgt = _baro.altitude;
@@ -1454,25 +1465,6 @@ FixedwingEstimator::task_main()
 							_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
 						}
 
-						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
-							_wind.timestamp = _global_pos.timestamp;
-							_wind.windspeed_north = _ekf->states[14];
-							_wind.windspeed_east = _ekf->states[15];
-							_wind.covariance_north = 0.0f; // XXX get form filter
-							_wind.covariance_east = 0.0f;
-
-							/* lazily publish the wind estimate only once available */
-							if (_wind_pub > 0) {
-								/* publish the wind estimate */
-								orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
-
-							} else {
-								/* advertise and publish */
-								_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
-							}
-
-						}
-
 						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
 							_wind.timestamp = _global_pos.timestamp;
 							_wind.windspeed_north = _ekf->states[14];

src/modules/ekf_att_pos_estimator/estimator_23states.cpp

@@ -2773,7 +2773,7 @@ int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error)
         ResetHeight();
         ResetStoredStates();
 
-        ret = 3;
+        ret = 0;
     }
 
     // Reset the filter if gyro offsets are excessive
@@ -3028,6 +3028,10 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *err)
         current_ekf_state.states[i] = states[i];
     }
     current_ekf_state.n_states = n_states;
+    current_ekf_state.onGround = onGround;
+    current_ekf_state.staticMode = staticMode;
+    current_ekf_state.useCompass = useCompass;
+    current_ekf_state.useAirspeed = useAirspeed;
 
     memcpy(err, &current_ekf_state, sizeof(*err));
 

src/modules/ekf_att_pos_estimator/estimator_utilities.cpp

@@ -45,8 +45,11 @@ void Vector3f::zero(void)
     z = 0.0f;
 }
 
-Mat3f::Mat3f() {
-    identity();
+Mat3f::Mat3f() :
+    x{1.0f, 0.0f, 0.0f},
+    y{0.0f, 1.0f, 0.0f},
+    z{0.0f, 0.0f, 1.0f}
+{
 }
 
 void Mat3f::identity() {

src/modules/ekf_att_pos_estimator/estimator_utilities.h

@@ -68,6 +68,10 @@ struct ekf_status_report {
     bool posTimeout;
     bool hgtTimeout;
     bool imuTimeout;
+    bool onGround;
+    bool staticMode;
+    bool useCompass;
+    bool useAirspeed;
     uint32_t velFailTime;
     uint32_t posFailTime;
     uint32_t hgtFailTime;

src/modules/ekf_att_pos_estimator/module.mk

@@ -41,3 +41,5 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  ekf_att_pos_estimator_params.c \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
+
+EXTRACXXFLAGS	= -Weffc++

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -529,7 +529,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
 	orb_check(_accel_sub, &accel_updated);
 
 	if (accel_updated) {
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+		orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel);
 	}
 }
 
@@ -577,7 +577,7 @@ FixedwingAttitudeControl::task_main()
 	 */
 	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -42,8 +42,8 @@
  *    Proceedings of the AIAA Guidance, Navigation and Control
  *    Conference, Aug 2004. AIAA-2004-4900.
  *
- * Implementation for total energy control class:
- *    Thomas Gubler
+ * Original implementation for total energy control class:
+ *    Paul Riseborough and Andrew Tridgell, 2013 (code in lib/external_lgpl)
  *
  * More details and acknowledgements in the referenced library headers.
  *
@@ -87,10 +87,13 @@
 #include <mavlink/mavlink_log.h>
 #include <launchdetection/LaunchDetector.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
+#include <external_lgpl/tecs/tecs.h>
 #include <drivers/drv_range_finder.h>
 #include "landingslope.h"
 #include "mtecs/mTecs.h"
 
+static int	_control_task = -1;			/**< task handle for sensor task */
+
 
 /**
  * L1 control app start / stop handling function
@@ -115,9 +118,9 @@ public:
 	/**
 	 * Start the sensors task.
 	 *
-	 * @return		OK on success.
+	 * @return	OK on success.
 	 */
-	int		start();
+	static int	start();
 
 	/**
 	 * Task status
@@ -131,12 +134,10 @@ private:
 
 	bool		_task_should_exit;		/**< if true, sensor task should exit */
 	bool		_task_running;			/**< if true, task is running in its mainloop */
-	int		_control_task;			/**< task handle for sensor task */
 
 	int		_global_pos_sub;
 	int		_pos_sp_triplet_sub;
 	int		_att_sub;			/**< vehicle attitude subscription */
-	int		_attitude_sub;			/**< raw rc channels data subscription */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_control_mode_sub;		/**< vehicle status subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
@@ -160,18 +161,6 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
-	/** manual control states */
-	float		_altctrl_hold_heading;		/**< heading the system should hold in altctrl mode */
-	double		_loiter_hold_lat;
-	double		_loiter_hold_lon;
-	float		_loiter_hold_alt;
-	bool		_loiter_hold;
-
-	double		_launch_lat;
-	double		_launch_lon;
-	float		_launch_alt;
-	bool		_launch_valid;
-
 	/* land states */
 	/* not in non-abort mode for landing yet */
 	bool land_noreturn_horizontal;
@@ -188,8 +177,8 @@ private:
 
 	/* Landingslope object */
 	Landingslope landingslope;
-
 	float flare_curve_alt_rel_last;
+
 	/* heading hold */
 	float target_bearing;
 
@@ -205,6 +194,7 @@ private:
 	math::Matrix<3, 3> _R_nb;			///< current attitude
 
 	ECL_L1_Pos_Controller				_l1_control;
+	TECS						_tecs;
 	fwPosctrl::mTecs				_mTecs;
 	bool						_was_pos_control_mode;
 
@@ -216,6 +206,8 @@ private:
 		float min_sink_rate;
 		float max_sink_rate;
 		float max_climb_rate;
+		float heightrate_p;
+		float speedrate_p;
 		float throttle_damp;
 		float integrator_gain;
 		float vertical_accel_limit;
@@ -238,9 +230,6 @@ private:
 
 		float throttle_land_max;
 
-		float heightrate_p;
-		float speedrate_p;
-
 		float land_slope_angle;
 		float land_H1_virt;
 		float land_flare_alt_relative;
@@ -259,6 +248,8 @@ private:
 		param_t min_sink_rate;
 		param_t max_sink_rate;
 		param_t max_climb_rate;
+		param_t heightrate_p;
+		param_t speedrate_p;
 		param_t throttle_damp;
 		param_t integrator_gain;
 		param_t vertical_accel_limit;
@@ -281,9 +272,6 @@ private:
 
 		param_t throttle_land_max;
 
-		param_t heightrate_p;
-		param_t speedrate_p;
-
 		param_t land_slope_angle;
 		param_t land_H1_virt;
 		param_t land_flare_alt_relative;
@@ -406,7 +394,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_mavlink_fd(-1),
 	_task_should_exit(false),
 	_task_running(false),
-	_control_task(-1),
 
 /* subscriptions */
 	_global_pos_sub(-1),
@@ -416,12 +403,14 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_control_mode_sub(-1),
 	_params_sub(-1),
 	_manual_control_sub(-1),
+	_sensor_combined_sub(-1),
 	_range_finder_sub(-1),
 
 /* publications */
 	_attitude_sp_pub(-1),
 	_nav_capabilities_pub(-1),
 
+/* states */
 	_att(),
 	_att_sp(),
 	_nav_capabilities(),
@@ -436,8 +425,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
-/* states */
-	_loiter_hold(false),
 	land_noreturn_horizontal(false),
 	land_noreturn_vertical(false),
 	land_stayonground(false),
@@ -446,12 +433,16 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	launch_detected(false),
 	usePreTakeoffThrust(false),
 	last_manual(false),
+	landingslope(),
 	flare_curve_alt_rel_last(0.0f),
+	target_bearing(0.0f),
 	launchDetector(),
 	_airspeed_error(0.0f),
 	_airspeed_valid(false),
+	_airspeed_last_valid(0),
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
+	_l1_control(),
 	_mTecs(),
 	_was_pos_control_mode(false)
 {
@@ -572,6 +563,23 @@ FixedwingPositionControl::parameters_update()
 	_l1_control.set_l1_period(_parameters.l1_period);
 	_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
 
+	_tecs.set_time_const(_parameters.time_const);
+	_tecs.set_min_sink_rate(_parameters.min_sink_rate);
+	_tecs.set_max_sink_rate(_parameters.max_sink_rate);
+	_tecs.set_throttle_damp(_parameters.throttle_damp);
+	_tecs.set_integrator_gain(_parameters.integrator_gain);
+	_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
+	_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
+	_tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega);
+	_tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation);
+	_tecs.set_speed_weight(_parameters.speed_weight);
+	_tecs.set_pitch_damping(_parameters.pitch_damping);
+	_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
+	_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
+	_tecs.set_max_climb_rate(_parameters.max_climb_rate);
+	_tecs.set_heightrate_p(_parameters.heightrate_p);
+	_tecs.set_speedrate_p(_parameters.speedrate_p);
+
 	/* sanity check parameters */
 	if (_parameters.airspeed_max < _parameters.airspeed_min ||
 	    _parameters.airspeed_max < 5.0f ||
@@ -609,17 +617,7 @@ FixedwingPositionControl::vehicle_control_mode_poll()
 	orb_check(_control_mode_sub, &vstatus_updated);
 
 	if (vstatus_updated) {
-
-		bool was_armed = _control_mode.flag_armed;
-
 		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
-
-		if (!was_armed && _control_mode.flag_armed) {
-			_launch_lat = _global_pos.lat;
-			_launch_lon = _global_pos.lon;
-			_launch_alt = _global_pos.alt;
-			_launch_valid = true;
-		}
 	}
 }
 
@@ -643,6 +641,9 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 		}
 	}
 
+	/* update TECS state */
+	_tecs.enable_airspeed(_airspeed_valid);
+
 	return airspeed_updated;
 }
 
@@ -703,7 +704,17 @@ FixedwingPositionControl::vehicle_setpoint_poll()
 void
 FixedwingPositionControl::task_main_trampoline(int argc, char *argv[])
 {
+	l1_control::g_control = new FixedwingPositionControl();
+
+	if (l1_control::g_control == nullptr) {
+		warnx("OUT OF MEM");
+		return;
+	}
+
+	/* only returns on exit */
 	l1_control::g_control->task_main();
+	delete l1_control::g_control;
+	l1_control::g_control = nullptr;
 }
 
 float
@@ -817,7 +828,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	/* filter speed and altitude for controller */
 	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
+	math::Vector<3> accel_earth = _R_nb * accel_body;
 
+	if (!_mTecs.getEnabled()) {
+		_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
+	}
+
+	/* define altitude error */
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
 
 	/* no throttle limit as default */
@@ -842,6 +859,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		/* get circle mode */
 		bool was_circle_mode = _l1_control.circle_mode();
 
+		/* restore speed weight, in case changed intermittently (e.g. in landing handling) */
+		_tecs.set_speed_weight(_parameters.speed_weight);
+
 		/* current waypoint (the one currently heading for) */
 		math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
 
@@ -949,7 +969,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			float airspeed_land = 1.3f * _parameters.airspeed_min;
 			float airspeed_approach = 1.3f * _parameters.airspeed_min;
 
-			/* Calculate altitude of last ordinary waypoint L */
+			/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
 			float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
 
 			float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@@ -1115,15 +1135,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			}
 		}
 
-		// warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
-		//       (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
-		// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
-		//       (double)next_wp(0), (double)next_wp(1), (pos_sp_triplet.previous_valid) ? "valid" : "invalid");
-
-		// XXX at this point we always want no loiter hold if a
-		// mission is active
-		_loiter_hold = false;
-
 		/* reset landing state */
 		if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
 			reset_landing_state();
@@ -1139,89 +1150,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* posctrl mode enabled */) {
-
-		_was_pos_control_mode = false;
-
-		/** POSCTRL FLIGHT **/
-
-	if (0/* switched from another mode to posctrl */) {
-		_altctrl_hold_heading = _att.yaw;
-	}
-
-	if (0/* posctrl on and manual control yaw non-zero */) {
-		_altctrl_hold_heading = _att.yaw + _manual.r;
-	}
-
-	//XXX not used
-
-	/* climb out control */
-//		bool climb_out = false;
-//
-//		/* user wants to climb out */
-//		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
-//			climb_out = true;
-//		}
-
-	/* if in altctrl mode, set airspeed based on manual control */
-
-	// XXX check if ground speed undershoot should be applied here
-	float altctrl_airspeed = _parameters.airspeed_min +
-					(_parameters.airspeed_max - _parameters.airspeed_min) *
-					_manual.z;
-
-		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
-		_att_sp.roll_body = _l1_control.nav_roll();
-		_att_sp.yaw_body = _l1_control.nav_bearing();
-
-		tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
-					math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
-					_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
-
-	} else if (0/* altctrl mode enabled */) {
-
-		_was_pos_control_mode = false;
-
-		/** ALTCTRL FLIGHT **/
-
-		if (0/* switched from another mode to altctrl */) {
-			_altctrl_hold_heading = _att.yaw;
-		}
-
-		if (0/* altctrl on and manual control yaw non-zero */) {
-			_altctrl_hold_heading = _att.yaw + _manual.r;
-		}
-
-		/* if in altctrl mode, set airspeed based on manual control */
-
-		// XXX check if ground speed undershoot should be applied here
-		float altctrl_airspeed = _parameters.airspeed_min +
-					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.z;
-
-		/* user switched off throttle */
-		if (_manual.z < 0.1f) {
-			throttle_max = 0.0f;
-		}
-
-		/* climb out control */
-		bool climb_out = false;
-
-		/* user wants to climb out */
-		if (_manual.x > 0.3f && _manual.z > 0.8f) {
-			climb_out = true;
-		}
-
-		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
-		_att_sp.roll_body =	_manual.y;
-		_att_sp.yaw_body =	_manual.r;
-		tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
-					math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
-					_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					climb_out, math::radians(_parameters.pitch_limit_min),
-					_global_pos.alt, ground_speed);
-
 	} else {
 
 		_was_pos_control_mode = false;
@@ -1242,9 +1170,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	}
 	else {
-		_att_sp.thrust = math::min(_mTecs.getThrottleSetpoint(), throttle_max);
+		_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max);
 	}
-	_att_sp.pitch_body = _mTecs.getPitchSetpoint();
+	_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
 
 	if (_control_mode.flag_control_position_enabled) {
 		last_manual = false;
@@ -1260,10 +1188,6 @@ void
 FixedwingPositionControl::task_main()
 {
 
-	/* inform about start */
-	warnx("Initializing..");
-	fflush(stdout);
-
 	/*
 	 * do subscriptions
 	 */
@@ -1339,14 +1263,6 @@ FixedwingPositionControl::task_main()
 				_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 			}
 
-			static uint64_t last_run = 0;
-			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-			last_run = hrt_absolute_time();
-
-			/* guard against too large deltaT's */
-			if (deltaT > 1.0f)
-				deltaT = 0.01f;
-
 			/* load local copies */
 			orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
 
@@ -1432,20 +1348,29 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		const math::Vector<3> &ground_speed,
 		tecs_mode mode)
 {
-	/* Using mtecs library: prepare arguments for mtecs call */
-	float flightPathAngle = 0.0f;
-	float ground_speed_length = ground_speed.length();
-	if (ground_speed_length > FLT_EPSILON) {
-		flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
-	}
-	fwPosctrl::LimitOverride limitOverride;
-	if (climbout_mode) {
-		limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
+	if (_mTecs.getEnabled()) {
+		/* Using mtecs library: prepare arguments for mtecs call */
+		float flightPathAngle = 0.0f;
+		float ground_speed_length = ground_speed.length();
+		if (ground_speed_length > FLT_EPSILON) {
+			flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
+		}
+		fwPosctrl::LimitOverride limitOverride;
+		if (climbout_mode) {
+			limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
+		} else {
+			limitOverride.disablePitchMinOverride();
+		}
+		_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
+				limitOverride);
 	} else {
-		limitOverride.disablePitchMinOverride();
+		/* Using tecs library */
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
+					    _airspeed.indicated_airspeed_m_s, eas2tas,
+					    climbout_mode, climbout_pitch_min_rad,
+					    throttle_min, throttle_max, throttle_cruise,
+					    pitch_min_rad, pitch_max_rad);
 	}
-	_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
-			limitOverride);
 }
 
 int
@@ -1479,14 +1404,7 @@ int fw_pos_control_l1_main(int argc, char *argv[])
 		if (l1_control::g_control != nullptr)
 			errx(1, "already running");
 
-		l1_control::g_control = new FixedwingPositionControl;
-
-		if (l1_control::g_control == nullptr)
-			errx(1, "alloc failed");
-
-		if (OK != l1_control::g_control->start()) {
-			delete l1_control::g_control;
-			l1_control::g_control = nullptr;
+		if (OK != FixedwingPositionControl::start()) {
 			err(1, "start failed");
 		}
 

src/modules/fw_pos_control_l1/mtecs/mTecs.cpp

@@ -59,6 +59,7 @@ mTecs::mTecs() :
 	_controlAltitude(this, "FPA", true),
 	_controlAirSpeed(this, "ACC"),
 	_flightPathAngleLowpass(this, "FPA_LP"),
+	_altitudeLowpass(this, "ALT_LP"),
 	_airspeedLowpass(this, "A_LP"),
 	_airspeedDerivative(this, "AD"),
 	_throttleSp(0.0f),
@@ -75,6 +76,7 @@ mTecs::mTecs() :
 	_counter(0),
 	_debug(false)
 {
+	warnx("starting");
 }
 
 mTecs::~mTecs()
@@ -93,18 +95,23 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 	/* time measurement */
 	updateTimeMeasurement();
 
+	/* Filter altitude */
+	float altitudeFiltered = _altitudeLowpass.update(altitude);
+
+
 	/* calculate flight path angle setpoint from altitude setpoint */
-	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitudeFiltered);
 
 	/* Debug output */
 	if (_counter % 10 == 0) {
 		debug("***");
-		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
+		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, altitude filtered %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)altitudeFiltered, (double)flightPathAngleSp);
 	}
 
 	/* Write part of the status message */
 	_status.altitudeSp = altitudeSp;
 	_status.altitude = altitude;
+	_status.altitudeFiltered = altitudeFiltered;
 
 
 	/* use flightpath angle setpoint for total energy control */

src/modules/fw_pos_control_l1/mtecs/mTecs.h

@@ -115,6 +115,7 @@ protected:
 
 	/* Other calculation Blocks */
 	control::BlockLowPass _flightPathAngleLowpass;	/**< low pass filter for the flight path angle */
+	control::BlockLowPass _altitudeLowpass;	/**< low pass filter for altitude */
 	control::BlockLowPass _airspeedLowpass;		/**< low pass filter for airspeed */
 	control::BlockDerivative _airspeedDerivative;	/**< airspeed derivative calulation */
 

src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h

@@ -72,8 +72,8 @@ public:
 	 * @return: true if the limit is applied, false otherwise
 	 */
 	bool limit(float& value, float& difference) {
-		float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin();
-		float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
+		float minimum = getIsAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin();
+		float maximum = getIsAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
 		if (value < minimum) {
 			difference = value - minimum;
 			value = minimum;
@@ -86,7 +86,7 @@ public:
 		return false;
 	}
 //accessor:
-	bool isAngularLimit() {return _isAngularLimit ;}
+	bool getIsAngularLimit() {return _isAngularLimit ;}
 	float getMin() { return _min.get(); }
 	float getMax() { return _max.get(); }
 	void setMin(float value) { _min.set(value); }

src/modules/fw_pos_control_l1/mtecs/mTecs_params.c

@@ -174,6 +174,13 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
  */
 PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
 
+/**
+ * Lowpass (cutoff freq.) for altitude
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
+
 /**
  * Lowpass (cutoff freq.) for the flight path angle
  *
@@ -234,7 +241,14 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
  *
  * @group mTECS
  */
-PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f);
+PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
+
+/**
+ * Airspeed derivative calculation lowpass
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
 
 /**
  * P gain for the airspeed control
@@ -261,7 +275,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
  *
  * @group mTECS
  */
-PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f);
+PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
 
 /**
  * Minimal acceleration (air)
@@ -279,13 +293,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
  */
 PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
 
-/**
- * Airspeed derivative calculation lowpass
- *
- * @group mTECS
- */
-PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f);
-
 /**
  * Minimal throttle during takeoff
  *

src/modules/mavlink/mavlink_bridge_header.h

@@ -44,7 +44,12 @@
 
 __BEGIN_DECLS
 
-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+/*
+ * We are NOT using convenience functions,
+ * but instead send messages with a custom function.
+ * So we do NOT do this:
+ * #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+ */
 
 /* use efficient approach, see mavlink_helpers.h */
 #define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes

src/modules/mavlink/mavlink_ftp.cpp

@@ -50,16 +50,20 @@ MavlinkFTP::getServer()
 	return _server;
 }
 
-MavlinkFTP::MavlinkFTP()
+MavlinkFTP::MavlinkFTP() :
+	_session_fds{},
+	_workBufs{},
+	_workFree{},
+	_lock{}
 {
 	// initialise the request freelist
 	dq_init(&_workFree);
 	sem_init(&_lock, 0, 1);
-    
-    // initialize session list
-    for (size_t i=0; i<kMaxSession; i++) {
-        _session_fds[i] = -1;
-    }
+
+	// initialize session list
+	for (size_t i=0; i<kMaxSession; i++) {
+		_session_fds[i] = -1;
+	}
 
 	// drop work entries onto the free list
 	for (unsigned i = 0; i < kRequestQueueSize; i++) {

src/modules/mavlink/mavlink_ftp.h

@@ -55,6 +55,7 @@
 #include <systemlib/err.h>
 
 #include "mavlink_messages.h"
+#include "mavlink_main.h"
 
 class MavlinkFTP
 {

src/modules/mavlink/mavlink_main.h

@@ -51,13 +51,14 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/telemetry_status.h>
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_orb_subscription.h"
 #include "mavlink_stream.h"
 #include "mavlink_messages.h"
 #include "mavlink_mission.h"
-
+#include "mavlink_parameters.h"
 
 class Mavlink
 {
@@ -97,6 +98,8 @@ public:
 
 	static int		destroy_all_instances();
 
+	static int		get_status_all_instances();
+
 	static bool		instance_exists(const char *device_name, Mavlink *self);
 
 	static void		forward_message(const mavlink_message_t *msg, Mavlink *self);
@@ -157,7 +160,12 @@ public:
 	 */
 	int			set_hil_enabled(bool hil_enabled);
 
-	void			send_message(const mavlink_message_t *msg);
+	void		send_message(const uint8_t msgid, const void *msg);
+
+	/**
+	 * Resend message as is, don't change sequence number and CRC.
+	 */
+	void		resend_message(mavlink_message_t *msg);
 
 	void			handle_message(const mavlink_message_t *msg);
 
@@ -185,29 +193,33 @@ public:
 	 *
 	 * @param string the message to send (will be capped by mavlink max string length)
 	 */
-	int			send_statustext_info(const char *string);
+	void			send_statustext_info(const char *string);
 
 	/**
 	 * Send a status text with loglevel CRITICAL
 	 *
 	 * @param string the message to send (will be capped by mavlink max string length)
 	 */
-	int			send_statustext_critical(const char *string);
+	void			send_statustext_critical(const char *string);
 
 	/**
 	 * Send a status text with loglevel EMERGENCY
 	 *
 	 * @param string the message to send (will be capped by mavlink max string length)
 	 */
-	int			send_statustext_emergency(const char *string);
+	void			send_statustext_emergency(const char *string);
 
 	/**
-	 * Send a status text with loglevel
+	 * Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent
+	 * only on this mavlink connection. Useful for reporting communication specific, not system-wide info
+	 * only to client interested in it. Message will be not sent immediately but queued in buffer as
+	 * for mavlink_log_xxx().
 	 *
 	 * @param string the message to send (will be capped by mavlink max string length)
-	 * @param severity the log level, one of 
+	 * @param severity the log level
 	 */
-	int			send_statustext(unsigned severity, const char *string);
+	void			send_statustext(unsigned char severity, const char *string);
+
 	MavlinkStream *		get_streams() const { return _streams; }
 
 	float			get_rate_mult();
@@ -229,6 +241,28 @@ public:
 	 */
 	void			count_txerr();
 
+	/**
+	 * Count transmitted bytes
+	 */
+	void			count_txbytes(unsigned n) { _bytes_tx += n; };
+
+	/**
+	 * Count bytes not transmitted because of errors
+	 */
+	void			count_txerrbytes(unsigned n) { _bytes_txerr += n; };
+
+	/**
+	 * Count received bytes
+	 */
+	void			count_rxbytes(unsigned n) { _bytes_rx += n; };
+
+	/**
+	 * Get the receive status of this MAVLink link
+	 */
+	struct telemetry_status_s&	get_rx_status() { return _rstatus; }
+
+	struct mavlink_logbuffer	*get_logbuffer() { return &_logbuffer; }
+
 protected:
 	Mavlink			*next;
 
@@ -250,13 +284,12 @@ private:
 	MavlinkOrbSubscription	*_subscriptions;
 	MavlinkStream		*_streams;
 
-	MavlinkMissionManager *_mission_manager;
+	MavlinkMissionManager	*_mission_manager;
+	MavlinkParametersManager *_parameters_manager;
 
-	orb_advert_t	_mission_pub;
-	int			_mission_result_sub;
-	MAVLINK_MODE _mode;
+	MAVLINK_MODE 		_mode;
 
-	mavlink_channel_t _channel;
+	mavlink_channel_t	_channel;
 
 	struct mavlink_logbuffer _logbuffer;
 	unsigned int		_total_counter;
@@ -269,7 +302,9 @@ private:
 	bool			_ftp_on;
 	int			_uart_fd;
 	int			_baudrate;
-	int			_datarate;
+	int			_datarate;		///< data rate for normal streams (attitude, position, etc.)
+	int			_datarate_events;	///< data rate for params, waypoints, text messages
+	float		_rate_mult;
 
 	/**
 	 * If the queue index is not at 0, the queue sending
@@ -284,6 +319,18 @@ private:
 	float			_subscribe_to_stream_rate;
 
 	bool			_flow_control_enabled;
+	uint64_t		_last_write_success_time;
+	uint64_t		_last_write_try_time;
+
+	unsigned		_bytes_tx;
+	unsigned		_bytes_txerr;
+	unsigned		_bytes_rx;
+	uint64_t		_bytes_timestamp;
+	float		_rate_tx;
+	float		_rate_txerr;
+	float		_rate_rx;
+
+	struct telemetry_status_s	_rstatus;			///< receive status
 
 	struct mavlink_message_buffer {
 		int write_ptr;
@@ -295,6 +342,7 @@ private:
 	mavlink_message_buffer	_message_buffer;
 
 	pthread_mutex_t		_message_buffer_mutex;
+	pthread_mutex_t		_send_mutex;
 
 	bool			_param_initialized;
 	param_t			_param_system_id;
@@ -305,53 +353,28 @@ private:
 	perf_counter_t		_loop_perf;			/**< loop performance counter */
 	perf_counter_t		_txerr_perf;			/**< TX error counter */
 
-	/**
-	 * Send one parameter.
-	 *
-	 * @param param		The parameter id to send.
-	 * @return		zero on success, nonzero on failure.
-	 */
-	int			mavlink_pm_send_param(param_t param);
-
-	/**
-	 * Send one parameter identified by index.
-	 *
-	 * @param index		The index of the parameter to send.
-	 * @return		zero on success, nonzero else.
-	 */
-	int			mavlink_pm_send_param_for_index(uint16_t index);
-
-	/**
-	 * Send one parameter identified by name.
-	 *
-	 * @param name		The index of the parameter to send.
-	 * @return		zero on success, nonzero else.
-	 */
-	int			mavlink_pm_send_param_for_name(const char *name);
-
-	/**
-	 * Send a queue of parameters, one parameter per function call.
-	 *
-	 * @return		zero on success, nonzero on failure
-	 */
-	int			mavlink_pm_queued_send(void);
-
-	/**
-	 * Start sending the parameter queue.
-	 *
-	 * This function will not directly send parameters, but instead
-	 * activate the sending of one parameter on each call of
-	 * mavlink_pm_queued_send().
-	 * @see 		mavlink_pm_queued_send()
-	 */
-	void			mavlink_pm_start_queued_send();
-
 	void			mavlink_update_system();
 
 	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
+	/**
+	 * Get the free space in the transmit buffer
+	 *
+	 * @return free space in the UART TX buffer
+	 */
+	unsigned			get_free_tx_buf();
+
+	static unsigned int interval_from_rate(float rate);
+
 	int configure_stream(const char *stream_name, const float rate);
 
+	/**
+	 * Adjust the stream rates based on the current rate
+	 *
+	 * @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease
+	 */
+	void adjust_stream_rates(const float multiplier);
+
 	int message_buffer_init(int size);
 
 	void message_buffer_destroy();
@@ -366,10 +389,19 @@ private:
 
 	void pass_message(const mavlink_message_t *msg);
 
+	/**
+	 * Update rate mult so total bitrate will be equal to _datarate.
+	 */
+	void update_rate_mult();
+
 	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
 	/**
 	 * Main mavlink task.
 	 */
 	int		task_main(int argc, char *argv[]);
+
+	/* do not allow copying this class */
+	Mavlink(const Mavlink&);
+	Mavlink operator=(const Mavlink&);
 };

src/modules/mavlink/mavlink_messages.h

@@ -46,10 +46,10 @@
 class StreamListItem {
 
 public:
-	MavlinkStream* (*new_instance)();
+	MavlinkStream* (*new_instance)(Mavlink *mavlink);
 	const char* (*get_name)();
 
-	StreamListItem(MavlinkStream* (*inst)(), const char* (*name)()) :
+	StreamListItem(MavlinkStream* (*inst)(Mavlink *mavlink), const char* (*name)()) :
 		new_instance(inst),
 		get_name(name) {};
 

src/modules/mavlink/mavlink_mission.cpp

@@ -59,8 +59,7 @@
 static const int ERROR = -1;
 
 
-MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
-	_mavlink(mavlink),
+MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
 	_state(MAVLINK_WPM_STATE_IDLE),
 	_time_last_recv(0),
 	_time_last_sent(0),
@@ -79,9 +78,8 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_offboard_mission_sub(-1),
 	_mission_result_sub(-1),
 	_offboard_mission_pub(-1),
-	_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()),
+	_slow_rate_limiter(_interval / 10.0f),
 	_verbose(false),
-	_channel(mavlink->get_channel()),
 	_comp_id(MAV_COMP_ID_MISSIONPLANNER)
 {
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -96,6 +94,20 @@ MavlinkMissionManager::~MavlinkMissionManager()
 	close(_mission_result_sub);
 }
 
+unsigned
+MavlinkMissionManager::get_size()
+{
+	if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+		return MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
+		return MAVLINK_MSG_ID_MISSION_REQUEST + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
 void
 MavlinkMissionManager::init_offboard_mission()
 {
@@ -157,15 +169,13 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
 void
 MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
 {
-	mavlink_message_t msg;
 	mavlink_mission_ack_t wpa;
 
 	wpa.target_system = sysid;
 	wpa.target_component = compid;
 	wpa.type = type;
 
-	mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpa);
-	_mavlink->send_message(&msg);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ACK, &wpa);
 
 	if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
 }
@@ -175,13 +185,11 @@ void
 MavlinkMissionManager::send_mission_current(uint16_t seq)
 {
 	if (seq < _count) {
-		mavlink_message_t msg;
 		mavlink_mission_current_t wpc;
 
 		wpc.seq = seq;
 
-		mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
-		_mavlink->send_message(&msg);
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_CURRENT, &wpc);
 
 	} else if (seq == 0 && _count == 0) {
 		/* don't broadcast if no WPs */
@@ -199,15 +207,13 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
 {
 	_time_last_sent = hrt_absolute_time();
 
-	mavlink_message_t msg;
 	mavlink_mission_count_t wpc;
 
 	wpc.target_system = sysid;
 	wpc.target_component = compid;
 	wpc.count = _count;
 
-	mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
-	_mavlink->send_message(&msg);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_COUNT, &wpc);
 
 	if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
 }
@@ -226,13 +232,12 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
 		mavlink_mission_item_t wp;
 		format_mavlink_mission_item(&mission_item, &wp);
 
-		mavlink_message_t msg;
 		wp.target_system = sysid;
 		wp.target_component = compid;
 		wp.seq = seq;
 		wp.current = (_current_seq == seq) ? 1 : 0;
-		mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp);
-		_mavlink->send_message(&msg);
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM, &wp);
 
 		if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
 
@@ -251,13 +256,12 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 	if (seq < _max_count) {
 		_time_last_sent = hrt_absolute_time();
 
-		mavlink_message_t msg;
 		mavlink_mission_request_t wpr;
 		wpr.target_system = sysid;
 		wpr.target_component = compid;
 		wpr.seq = seq;
-		mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpr);
-		_mavlink->send_message(&msg);
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_REQUEST, &wpr);
 
 		if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
 
@@ -272,22 +276,21 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 void
 MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
 {
-	mavlink_message_t msg;
 	mavlink_mission_item_reached_t wp_reached;
 
 	wp_reached.seq = seq;
 
-	mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp_reached);
-	_mavlink->send_message(&msg);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM_REACHED, &wp_reached);
 
 	if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
 }
 
 
 void
-MavlinkMissionManager::eventloop()
+MavlinkMissionManager::send(const hrt_abstime now)
 {
-	hrt_abstime now = hrt_absolute_time();
+	/* update interval for slow rate limiter */
+	_slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult());
 
 	bool updated = false;
 	orb_check(_mission_result_sub, &updated);

src/modules/mavlink/mavlink_mission.h

@@ -42,11 +42,12 @@
 
 #pragma once
 
-#include "mavlink_bridge_header.h"
-#include "mavlink_rate_limiter.h"
 #include <uORB/uORB.h>
 
-// FIXME XXX - TO BE MOVED TO XML
+#include "mavlink_bridge_header.h"
+#include "mavlink_rate_limiter.h"
+#include "mavlink_stream.h"
+
 enum MAVLINK_WPM_STATES {
 	MAVLINK_WPM_STATE_IDLE = 0,
 	MAVLINK_WPM_STATE_SENDLIST,
@@ -66,20 +67,75 @@ enum MAVLINK_WPM_CODES {
 #define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
 #define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
 
-class Mavlink;
-
-class MavlinkMissionManager {
+class MavlinkMissionManager : public MavlinkStream {
 public:
-	MavlinkMissionManager(Mavlink *parent);
-
 	~MavlinkMissionManager();
 
+	const char *get_name() const
+	{
+		return MavlinkMissionManager::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "MISSION_ITEM";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_MISSION_ITEM;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkMissionManager(mavlink);
+	}
+
+	unsigned get_size();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	void set_verbose(bool v) { _verbose = v; }
+
+private:
+	enum MAVLINK_WPM_STATES _state;					///< Current state
+
+	uint64_t		_time_last_recv;
+	uint64_t		_time_last_sent;
+
+	uint32_t		_action_timeout;
+	uint32_t		_retry_timeout;
+	unsigned		_max_count;				///< Maximum number of mission items
+
+	int			_dataman_id;				///< Dataman storage ID for active mission
+	unsigned		_count;					///< Count of items in active mission
+	int			_current_seq;				///< Current item sequence in active mission
+
+	int			_transfer_dataman_id;			///< Dataman storage ID for current transmission
+	unsigned		_transfer_count;			///< Items count in current transmission
+	unsigned		_transfer_seq;				///< Item sequence in current transmission
+	unsigned		_transfer_current_seq;			///< Current item ID for current transmission (-1 means not initialized)
+	unsigned		_transfer_partner_sysid;		///< Partner system ID for current transmission
+	unsigned		_transfer_partner_compid;		///< Partner component ID for current transmission
+
+	int			_offboard_mission_sub;
+	int			_mission_result_sub;
+	orb_advert_t		_offboard_mission_pub;
+
+	MavlinkRateLimiter	_slow_rate_limiter;
+
+	bool _verbose;
+
+	uint8_t			_comp_id;
+
+	/* do not allow top copying this class */
+	MavlinkMissionManager(MavlinkMissionManager &);
+	MavlinkMissionManager& operator = (const MavlinkMissionManager &);
+
 	void init_offboard_mission();
 
 	int update_active_mission(int dataman_id, unsigned count, int seq);
 
-	void send_message(mavlink_message_t *msg);
-
 	/**
 	 *  @brief Sends an waypoint ack message
 	 */
@@ -111,10 +167,6 @@ public:
 	 */
 	void send_mission_item_reached(uint16_t seq);
 
-	void eventloop();
-
-	void handle_message(const mavlink_message_t *msg);
-
 	void handle_mission_ack(const mavlink_message_t *msg);
 
 	void handle_mission_set_current(const mavlink_message_t *msg);
@@ -139,39 +191,8 @@ public:
 	 */
 	int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
 
-	void set_verbose(bool v) { _verbose = v; }
+protected:
+	explicit MavlinkMissionManager(Mavlink *mavlink);
 
-private:
-	Mavlink*		_mavlink;
-
-	enum MAVLINK_WPM_STATES _state;					///< Current state
-
-	uint64_t		_time_last_recv;
-	uint64_t		_time_last_sent;
-
-	uint32_t		_action_timeout;
-	uint32_t		_retry_timeout;
-	unsigned		_max_count;				///< Maximum number of mission items
-
-	int			_dataman_id;				///< Dataman storage ID for active mission
-	unsigned		_count;					///< Count of items in active mission
-	int			_current_seq;				///< Current item sequence in active mission
-
-	int			_transfer_dataman_id;			///< Dataman storage ID for current transmission
-	unsigned		_transfer_count;			///< Items count in current transmission
-	unsigned		_transfer_seq;				///< Item sequence in current transmission
-	unsigned		_transfer_current_seq;			///< Current item ID for current transmission (-1 means not initialized)
-	unsigned		_transfer_partner_sysid;		///< Partner system ID for current transmission
-	unsigned		_transfer_partner_compid;		///< Partner component ID for current transmission
-
-	int			_offboard_mission_sub;
-	int			_mission_result_sub;
-	orb_advert_t		_offboard_mission_pub;
-
-	MavlinkRateLimiter	_slow_rate_limiter;
-
-	bool _verbose;
-
-	mavlink_channel_t	_channel;
-	uint8_t			_comp_id;
+	void send(const hrt_abstime t);
 };

src/modules/mavlink/mavlink_orb_subscription.h

@@ -82,6 +82,10 @@ private:
 	const orb_id_t _topic;		///< topic metadata
 	int _fd;			///< subscription handle
 	bool _published;		///< topic was ever published
+
+	/* do not allow copying this class */
+	MavlinkOrbSubscription(const MavlinkOrbSubscription&);
+	MavlinkOrbSubscription operator=(const MavlinkOrbSubscription&);
 };
 
 

src/modules/mavlink/mavlink_parameters.cpp

@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.cpp
+ * Mavlink parameters manager implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <stdio.h>
+
+#include "mavlink_parameters.h"
+#include "mavlink_main.h"
+
+MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+	_send_all_index(-1)
+{
+}
+
+unsigned
+MavlinkParametersManager::get_size()
+{
+	if (_send_all_index >= 0) {
+		return MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
+void
+MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+			/* request all parameters */
+			mavlink_param_request_list_t req_list;
+			mavlink_msg_param_request_list_decode(msg, &req_list);
+
+			if (req_list.target_system == mavlink_system.sysid &&
+			    (req_list.target_component == mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
+
+				_send_all_index = 0;
+				_mavlink->send_statustext_info("[pm] sending list");
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_SET: {
+			/* set parameter */
+			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
+				mavlink_param_set_t set;
+				mavlink_msg_param_set_decode(msg, &set);
+
+				if (set.target_system == mavlink_system.sysid &&
+				    (set.target_component == mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
+
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter, set and send it */
+					param_t param = param_find(name);
+
+					if (param == PARAM_INVALID) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[pm] unknown param: %s", name);
+						_mavlink->send_statustext_info(buf);
+
+					} else {
+						/* set and send parameter */
+						param_set(param, &(set.param_value));
+						send_param(param);
+					}
+				}
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+			/* request one parameter */
+			mavlink_param_request_read_t req_read;
+			mavlink_msg_param_request_read_decode(msg, &req_read);
+
+			if (req_read.target_system == mavlink_system.sysid &&
+			    (req_read.target_component == mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
+
+				/* when no index is given, loop through string ids and compare them */
+				if (req_read.param_index < 0) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					send_param(param_find(name));
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					send_param(param_for_index(req_read.param_index));
+				}
+			}
+			break;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+MavlinkParametersManager::send(const hrt_abstime t)
+{
+	/* send all parameters if requested */
+	if (_send_all_index >= 0) {
+		send_param(param_for_index(_send_all_index));
+		_send_all_index++;
+		if (_send_all_index >= (int) param_count()) {
+			_send_all_index = -1;
+		}
+	}
+}
+
+void
+MavlinkParametersManager::send_param(param_t param)
+{
+	if (param == PARAM_INVALID) {
+		return;
+	}
+
+	mavlink_param_value_t msg;
+
+	/*
+	 * get param value, since MAVLink encodes float and int params in the same
+	 * space during transmission, copy param onto float val_buf
+	 */
+	if (param_get(param, &msg.param_value) != OK) {
+		return;
+	}
+
+	msg.param_count = param_count();
+	msg.param_index = param_get_index(param);
+
+	/* copy parameter name */
+	strncpy(msg.param_id, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+
+	/* query parameter type */
+	param_type_t type = param_type(param);
+
+	/*
+	 * Map onboard parameter type to MAVLink type,
+	 * endianess matches (both little endian)
+	 */
+	if (type == PARAM_TYPE_INT32) {
+		msg.param_type = MAVLINK_TYPE_INT32_T;
+
+	} else if (type == PARAM_TYPE_FLOAT) {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+
+	} else {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+	}
+
+	_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
+}

src/modules/mavlink/mavlink_parameters.h

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.h
+ * Mavlink parameters manager definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include <systemlib/param/param.h>
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_stream.h"
+
+class MavlinkParametersManager : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkParametersManager::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "PARAM_VALUE";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_PARAM_VALUE;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkParametersManager(mavlink);
+	}
+
+	unsigned get_size();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	/**
+	 * Send one parameter identified by index.
+	 *
+	 * @param index		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	void		start_send_one(int index);
+
+
+	/**
+	 * Send one parameter identified by name.
+	 *
+	 * @param name		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	int			start_send_for_name(const char *name);
+
+	/**
+	 * Start sending the parameter queue.
+	 *
+	 * This function will not directly send parameters, but instead
+	 * activate the sending of one parameter on each call of
+	 * mavlink_pm_queued_send().
+	 * @see 		mavlink_pm_queued_send()
+	 */
+	void		start_send_all();
+
+private:
+	int		_send_all_index;
+
+	/* do not allow top copying this class */
+	MavlinkParametersManager(MavlinkParametersManager &);
+	MavlinkParametersManager& operator = (const MavlinkParametersManager &);
+
+protected:
+	explicit MavlinkParametersManager(Mavlink *mavlink);
+
+	void send(const hrt_abstime t);
+
+	void send_param(param_t param);
+};

src/modules/mavlink/mavlink_rate_limiter.cpp

@@ -64,7 +64,7 @@ MavlinkRateLimiter::check(hrt_abstime t)
 	uint64_t dt = t - _last_sent;
 
 	if (dt > 0 && dt >= _interval) {
-		_last_sent = (t / _interval) * _interval;
+		_last_sent = t;
 		return true;
 	}
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -86,7 +86,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
-
+	status{},
+	hil_local_pos{},
+	_control_mode{},
 	_global_pos_pub(-1),
 	_local_pos_pub(-1),
 	_attitude_pub(-1),
@@ -110,17 +112,14 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_telemetry_status_pub(-1),
 	_rc_pub(-1),
 	_manual_pub(-1),
-	_telemetry_heartbeat_time(0),
 	_radio_status_available(false),
-	_control_mode_sub(-1),
+	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
 	_hil_frames(0),
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
-	_hil_local_alt0(0.0)
+	_hil_local_alt0(0.0f),
+	_hil_local_proj_ref{}
 {
-	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	memset(&hil_local_pos, 0, sizeof(hil_local_pos));
-	memset(&_control_mode, 0, sizeof(_control_mode));
 
 	// make sure the FTP server is started
 	(void)MavlinkFTP::getServer();
@@ -247,7 +246,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
-				warnx("ignoring CMD spoofed with same SYS/COMP ID");
+				warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+				      mavlink_system.sysid, mavlink_system.compid);
 				return;
 			}
 
@@ -444,11 +444,11 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 		mavlink_radio_status_t rstatus;
 		mavlink_msg_radio_status_decode(msg, &rstatus);
 
-		struct telemetry_status_s tstatus;
-		memset(&tstatus, 0, sizeof(tstatus));
+		struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
 
 		tstatus.timestamp = hrt_absolute_time();
-		tstatus.heartbeat_time = _telemetry_heartbeat_time;
+		tstatus.telem_time = tstatus.timestamp;
+		/* tstatus.heartbeat_time is set by system heartbeats */
 		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
 		tstatus.rssi = rstatus.rssi;
 		tstatus.remote_rssi = rstatus.remrssi;
@@ -505,16 +505,20 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 
 		/* ignore own heartbeats, accept only heartbeats from GCS */
 		if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
-			_telemetry_heartbeat_time = hrt_absolute_time();
+
+			struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
+
+			hrt_abstime tnow = hrt_absolute_time();
+
+			/* always set heartbeat, publish only if telemetry link not up */
+			tstatus.heartbeat_time = tnow;
 
 			/* if no radio status messages arrive, lets at least publish that heartbeats were received */
 			if (!_radio_status_available) {
 
-				struct telemetry_status_s tstatus;
-				memset(&tstatus, 0, sizeof(tstatus));
-
-				tstatus.timestamp = _telemetry_heartbeat_time;
-				tstatus.heartbeat_time = _telemetry_heartbeat_time;
+				tstatus.timestamp = tnow;
+				/* telem_time indicates the timestamp of a telemetry status packet and we got none */
+				tstatus.telem_time = 0;
 				tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
 
 				if (_telemetry_status_pub < 0) {
@@ -590,10 +594,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		gyro.temperature = imu.temperature;
 
 		if (_gyro_pub < 0) {
-			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
+			orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
 		}
 	}
 
@@ -612,10 +616,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		accel.temperature = imu.temperature;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 
@@ -633,10 +637,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		mag.z = imu.zmag;
 
 		if (_mag_pub < 0) {
-			_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
+			_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
 
 		} else {
-			orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
+			orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
 		}
 	}
 
@@ -651,10 +655,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		baro.temperature = imu.temperature;
 
 		if (_baro_pub < 0) {
-			_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
+			_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
+			orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
 		}
 	}
 
@@ -928,10 +932,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		accel.temperature = 25.0f;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 
@@ -999,6 +1003,9 @@ MavlinkReceiver::receive_thread(void *arg)
 					_mavlink->handle_message(&msg);
 				}
 			}
+
+			/* count received bytes */
+			_mavlink->count_rxbytes(nread);
 		}
 	}
 

src/modules/mavlink/mavlink_receiver.h

@@ -151,7 +151,6 @@ private:
 	orb_advert_t _telemetry_status_pub;
 	orb_advert_t _rc_pub;
 	orb_advert_t _manual_pub;
-	hrt_abstime _telemetry_heartbeat_time;
 	bool _radio_status_available;
 	int _control_mode_sub;
 	int _hil_frames;
@@ -159,4 +158,8 @@ private:
 	bool _hil_local_proj_inited;
 	float _hil_local_alt0;
 	struct map_projection_reference_s _hil_local_proj_ref;
+
+	/* do not allow copying this class */
+	MavlinkReceiver(const MavlinkReceiver&);
+	MavlinkReceiver operator=(const MavlinkReceiver&);
 };

src/modules/mavlink/mavlink_stream.cpp

@@ -43,9 +43,9 @@
 #include "mavlink_stream.h"
 #include "mavlink_main.h"
 
-MavlinkStream::MavlinkStream() :
+MavlinkStream::MavlinkStream(Mavlink *mavlink) :
 	next(nullptr),
-	_channel(MAVLINK_COMM_0),
+	_mavlink(mavlink),
 	_interval(1000000),
 	_last_sent(0)
 {
@@ -64,15 +64,6 @@ MavlinkStream::set_interval(const unsigned int interval)
 	_interval = interval;
 }
 
-/**
- * Set mavlink channel
- */
-void
-MavlinkStream::set_channel(mavlink_channel_t channel)
-{
-	_channel = channel;
-}
-
 /**
  * Update subscriptions and send message if necessary
  */
@@ -80,11 +71,21 @@ int
 MavlinkStream::update(const hrt_abstime t)
 {
 	uint64_t dt = t - _last_sent;
+	unsigned int interval = _interval;
 
-	if (dt > 0 && dt >= _interval) {
+	if (!const_rate()) {
+		interval /= _mavlink->get_rate_mult();
+	}
+
+	if (dt > 0 && dt >= interval) {
 		/* interval expired, send message */
 		send(t);
-		_last_sent = (t / _interval) * _interval;
+		if (const_rate()) {
+			_last_sent = (t / _interval) * _interval;
+
+		} else {
+			_last_sent = t;
+		}
 
 		return 0;
 	}

src/modules/mavlink/mavlink_stream.h

@@ -46,37 +46,60 @@
 class Mavlink;
 class MavlinkStream;
 
-#include "mavlink_main.h"
-
 class MavlinkStream
 {
 
 public:
 	MavlinkStream *next;
 
-	MavlinkStream();
+	MavlinkStream(Mavlink *mavlink);
 	virtual ~MavlinkStream();
+
+	/**
+	 * Get the interval
+	 *
+	 * @param interval the inveral in microseconds (us) between messages
+	 */
 	void set_interval(const unsigned int interval);
-	void set_channel(mavlink_channel_t channel);
+
+	/**
+	 * Get the interval
+	 *
+	 * @return the inveral in microseconds (us) between messages
+	 */
+	unsigned get_interval() { return _interval; }
 
 	/**
 	 * @return 0 if updated / sent, -1 if unchanged
 	 */
 	int update(const hrt_abstime t);
-	static MavlinkStream *new_instance();
+	static MavlinkStream *new_instance(const Mavlink *mavlink);
 	static const char *get_name_static();
-	virtual void subscribe(Mavlink *mavlink) = 0;
 	virtual const char *get_name() const = 0;
 	virtual uint8_t get_id() = 0;
 
+	/**
+	 * @return true if steam rate shouldn't be adjusted
+	 */
+	virtual bool const_rate() { return false; }
+
+	/**
+	 * Get maximal total messages size on update
+	 */
+	virtual unsigned get_size() = 0;
+
 protected:
-	mavlink_channel_t _channel;
+	Mavlink *    _mavlink;
 	unsigned int _interval;
 
 	virtual void send(const hrt_abstime t) = 0;
 
 private:
 	hrt_abstime _last_sent;
+
+	/* do not allow top copying this class */
+	MavlinkStream(const MavlinkStream&);
+	MavlinkStream& operator=(const MavlinkStream&);
 };
 
 

src/modules/mavlink/module.mk

@@ -40,11 +40,11 @@ SRCS		 += mavlink_main.cpp \
 			mavlink.c \
 			mavlink_receiver.cpp \
 			mavlink_mission.cpp \
+			mavlink_parameters.cpp \
 			mavlink_orb_subscription.cpp \
 			mavlink_messages.cpp \
 			mavlink_stream.cpp \
 			mavlink_rate_limiter.cpp \
-			mavlink_commands.cpp \
 			mavlink_ftp.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
@@ -52,3 +52,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE = 1024
+
+EXTRACXXFLAGS	= -Weffc++

src/modules/navigator/mission.cpp

@@ -314,30 +314,36 @@ Mission::set_mission_items()
 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();
 
+	/* get home distance state */
+	bool home_dist_ok = check_dist_1wp();
+	/* the home dist check provides user feedback, so we initialize it to this */
+	bool user_feedback_done = !home_dist_ok;
+
 	/* try setting onboard mission item */
 	if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_ONBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
 		}
 		_mission_type = MISSION_TYPE_ONBOARD;
 
 	/* try setting offboard mission item */
-	} else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) {
+	} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_OFFBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
 
 	} else {
-		/* no mission available, switch to loiter */
+		/* no mission available or mission finished, switch to loiter */
 		if (_mission_type != MISSION_TYPE_NONE) {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: mission finished");
-		} else {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: no mission available");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
+		} else if (!user_feedback_done) {
+			/* only tell users that we got no mission if there has not been any
+			 * better, more specific feedback yet
+			 */
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
 		}
 		_mission_type = MISSION_TYPE_NONE;
 
@@ -397,7 +403,7 @@ Mission::set_mission_items()
 			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
 		}
 
-		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
+		mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
 
 		_mission_item.lat = _navigator->get_global_position()->lat;
 		_mission_item.lon = _navigator->get_global_position()->lon;
@@ -483,7 +489,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			mavlink_log_critical(_navigator->get_mavlink_fd(),
-			                     "#audio: ERROR waypoint could not be read");
+			                     "ERROR waypoint could not be read");
 			return false;
 		}
 
@@ -502,7 +508,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 						/* not supposed to happen unless the datamanager can't access the
 						 * dataman */
 						mavlink_log_critical(_navigator->get_mavlink_fd(),
-								"#audio: ERROR DO JUMP waypoint could not be written");
+								"ERROR DO JUMP waypoint could not be written");
 						return false;
 					}
 				}
@@ -511,8 +517,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 				*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
 
 			} else {
-				mavlink_log_info(_navigator->get_mavlink_fd(),
-						 "#audio: DO JUMP repetitions completed");
+				mavlink_log_critical(_navigator->get_mavlink_fd(),
+						 "DO JUMP repetitions completed");
 				/* no more DO_JUMPS, therefore just try to continue with next mission item */
 				(*mission_index_ptr)++;
 			}
@@ -526,7 +532,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 
 	/* we have given up, we don't want to cycle forever */
 	mavlink_log_critical(_navigator->get_mavlink_fd(),
-			     "#audio: ERROR DO JUMP is cycling, giving up");
+			     "ERROR DO JUMP is cycling, giving up");
 	return false;
 }
 

src/modules/navigator/mission_feasibility_checker.cpp

@@ -135,12 +135,15 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 			}
 		}
 
-		if (home_alt > missionitem.altitude) {
+		/* calculate the global waypoint altitude */
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
+
+		if (home_alt > wp_alt) {
 			if (throw_error) {
-				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
 				return false;
 			} else	{
-				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
 				return true;
 			}
 		}

src/modules/navigator/module.mk

@@ -54,3 +54,5 @@ SRCS		= navigator_main.cpp \
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++

src/modules/navigator/navigator.h

@@ -222,5 +222,11 @@ private:
 	 * Publish a new position setpoint triplet for position controllers
 	 */
 	void		publish_position_setpoint_triplet();
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	Navigator(const Navigator&);
+	Navigator operator=(const Navigator&);
 };
 #endif

src/modules/navigator/navigator_main.cpp

@@ -105,17 +105,18 @@ Navigator::Navigator() :
 	_control_mode_sub(-1),
 	_onboard_mission_sub(-1),
 	_offboard_mission_sub(-1),
+	_param_update_sub(-1),
 	_pos_sp_triplet_pub(-1),
-	_vstatus({}),
-	_control_mode({}),
-	_global_pos({}),
-	_home_pos({}),
-	_mission_item({}),
-	_nav_caps({}),
-	_pos_sp_triplet({}),
+	_vstatus{},
+	_control_mode{},
+	_global_pos{},
+	_home_pos{},
+	_mission_item{},
+	_nav_caps{},
+	_pos_sp_triplet{},
 	_mission_item_valid(false),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
-	_geofence({}),
+	_geofence{},
 	_geofence_violation_warning_sent(false),
 	_fence_valid(false),
 	_inside_fence(true),
@@ -124,6 +125,8 @@ Navigator::Navigator() :
 	_loiter(this, "LOI"),
 	_rtl(this, "RTL"),
 	_offboard(this, "OFF"),
+	_can_loiter_at_sp(false),
+	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD")
 {
@@ -455,7 +458,7 @@ void
 Navigator::publish_position_setpoint_triplet()
 {
 	/* update navigation state */
-	/* TODO: set nav_state */
+	_pos_sp_triplet.nav_state = _vstatus.nav_state;
 
 	/* lazily publish the position setpoint triplet only once available */
 	if (_pos_sp_triplet_pub > 0) {

src/modules/navigator/navigator_mode.h

@@ -88,6 +88,12 @@ protected:
 
 private:
 	bool _first_run;
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	NavigatorMode(const NavigatorMode&);
+	NavigatorMode operator=(const NavigatorMode&);
 };
 
 #endif

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -41,28 +41,242 @@
 
 #include "position_estimator_inav_params.h"
 
+/**
+ * Z axis weight for barometer
+ *
+ * Weight (cutoff frequency) for barometer altitude measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
+
+/**
+ * Z axis weight for GPS
+ *
+ * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
+
+/**
+ * Z axis weight for vision
+ *
+ * Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 0.5f);
+
+/**
+ * Z axis weight for sonar
+ *
+ * Weight (cutoff frequency) for sonar measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
+
+/**
+ * XY axis weight for GPS position
+ *
+ * Weight (cutoff frequency) for GPS position measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
+
+/**
+ * XY axis weight for GPS velocity
+ *
+ * Weight (cutoff frequency) for GPS velocity measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
+
+/**
+ * XY axis weight for vision position
+ *
+ * Weight (cutoff frequency) for vision position measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
+
+/**
+ * XY axis weight for vision velocity
+ *
+ * Weight (cutoff frequency) for vision velocity measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
+
+/**
+ * XY axis weight for optical flow
+ *
+ * Weight (cutoff frequency) for optical flow (velocity) measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
+
+/**
+ * XY axis weight for resetting velocity
+ *
+ * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
+
+/**
+ * XY axis weight factor for GPS when optical flow available
+ *
+ * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
+
+/**
+ * Accelerometer bias estimation weight
+ *
+ * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
+ *
+ * @min 0.0
+ * @max 0.1
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
+
+/**
+ * Optical flow scale factor
+ *
+ * Factor to convert raw optical flow (in pixels) to radians [rad/px].
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit rad/px
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
+
+/**
+ * Minimal acceptable optical flow quality
+ *
+ * 0 - lowest quality, 1 - best quality.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
+
+/**
+ * Weight for sonar filter
+ *
+ * Sonar filter detects spikes on sonar measurements and used to detect new surface level.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
+
+/**
+ * Sonar maximal error for new surface
+ *
+ * If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
+
+/**
+ * Land detector time
+ *
+ * Vehicle assumed landed if no altitude changes happened during this time on low throttle.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
+
+/**
+ * Land detector altitude dispersion threshold
+ *
+ * Dispersion threshold for triggering land detector.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
+
+/**
+ * Land detector throttle threshold
+ *
+ * Value should be lower than minimal hovering thrust. Half of it is good choice.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
-PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
+
+/**
+ * GPS delay
+ *
+ * GPS delay compensation
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
 
+/**
+ * Disable vision input
+ *
+ * Set to the appropriate key to disable input
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
+
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");

src/modules/px4iofirmware/mixer.cpp

@@ -111,7 +111,7 @@ mixer_tick(void)
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
 	}
 
-	/* default to failsafe mixing */
+	/* default to failsafe mixing - it will be forced below if flag is set */
 	source = MIX_FAILSAFE;
 
 	/*
@@ -154,6 +154,13 @@ mixer_tick(void)
 		}
 	}
 
+	/*
+	 * Check if we should force failsafe - and do it if we have to
+	 */
+	if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
+		source = MIX_FAILSAFE;
+	}
+
 	/*
 	 * Set failsafe status flag depending on mixing source
 	 */

src/modules/px4iofirmware/protocol.h

@@ -179,6 +179,7 @@
 #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE	(1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
 #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED	(1 << 6) /* Disable the IO-internal evaluation of the RC */
 #define PX4IO_P_SETUP_ARMING_LOCKDOWN		(1 << 7) /* If set, the system operates normally, but won't actuate any servos */
+#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE	(1 << 8) /* If set, the system will always output the failsafe values */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
@@ -253,6 +254,10 @@ enum {							/* DSM bind states */
 /* PWM failsafe values - zero disables the output */
 #define PX4IO_PAGE_FAILSAFE_PWM			55		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
+/* PWM failsafe values - zero disables the output */
+#define PX4IO_PAGE_SENSORS			56		/**< Sensors connected to PX4IO */
+#define PX4IO_P_SENSORS_ALTITUDE		0		/**< Altitude of an external sensor (HoTT or S.BUS2) */
+
 /* Debug and test page - not used in normal operation */
 #define PX4IO_PAGE_TEST				127
 #define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */

src/modules/px4iofirmware/registers.c

@@ -189,7 +189,8 @@ volatile uint16_t	r_page_setup[] =
 					 PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
 					 PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
 					 PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
-					 PX4IO_P_SETUP_ARMING_LOCKDOWN)
+					 PX4IO_P_SETUP_ARMING_LOCKDOWN | \
+					 PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << PX4IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -738,30 +739,19 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 		{
 			/*
 			 * Coefficients here derived by measurement of the 5-16V
-			 * range on one unit:
+			 * range on one unit, validated on sample points of another unit
 			 *
-			 * V   counts
-			 *  5  1001
-			 *  6  1219
-			 *  7  1436
-			 *  8  1653
-			 *  9  1870
-			 * 10  2086
-			 * 11  2303
-			 * 12  2522
-			 * 13  2738
-			 * 14  2956
-			 * 15  3172
-			 * 16  3389
+			 * Data in Tools/tests-host/data folder.
 			 *
-			 * slope = 0.0046067
-			 * intercept = 0.3863
+			 * measured slope = 0.004585267878277 (int: 4585)
+			 * nominal theoretic slope: 0.00459340659 (int: 4593)
+			 * intercept = 0.016646394188076 (int: 16646)
+			 * nominal theoretic intercept: 0.00 (int: 0)
 			 *
-			 * Intercept corrected for best results @ 12V.
 			 */
 			unsigned counts = adc_measure(ADC_VBATT);
 			if (counts != 0xffff) {
-				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
+				unsigned mV = (166460 + (counts * 45934)) / 10000;
 				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
 
 				r_page_status[PX4IO_P_STATUS_VBATT] = corrected;

src/modules/sdlog2/sdlog2.c

@@ -1073,6 +1073,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime magnetometer_timestamp = 0;
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
+	hrt_abstime gyro1_timestamp = 0;
+	hrt_abstime accelerometer1_timestamp = 0;
+	hrt_abstime magnetometer1_timestamp = 0;
+	hrt_abstime gyro2_timestamp = 0;
+	hrt_abstime accelerometer2_timestamp = 0;
+	hrt_abstime magnetometer2_timestamp = 0;
 
 	/* initialize calculated mean SNR */
 	float snr_mean = 0.0f;
@@ -1209,6 +1215,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* --- SENSOR COMBINED --- */
 		if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
 			bool write_IMU = false;
+			bool write_IMU1 = false;
+			bool write_IMU2 = false;
 			bool write_SENS = false;
 
 			if (buf.sensor.timestamp != gyro_timestamp) {
@@ -1260,6 +1268,64 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 
+			if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
+				accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
+				gyro1_timestamp = buf.sensor.gyro1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
+				magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (write_IMU1) {
+				log_msg.msg_type = LOG_IMU1_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
+			if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
+				accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
+				gyro2_timestamp = buf.sensor.gyro2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
+				magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (write_IMU2) {
+				log_msg.msg_type = LOG_IMU2_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
 		}
 
 		/* --- ATTITUDE --- */
@@ -1366,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- GLOBAL POSITION SETPOINT --- */
 		if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
-			log_msg.msg_type = LOG_GPSP_MSG;
-			log_msg.body.log_GPSP.nav_state = 0;  /* TODO: Fix this */
-			log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
-			log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-			log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
-			log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-			log_msg.body.log_GPSP.type = buf.triplet.current.type;
-			log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-			log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-			log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
-			LOGBUFFER_WRITE_AND_COUNT(GPSP);
+
+			if (buf.triplet.current.valid) {
+				log_msg.msg_type = LOG_GPSP_MSG;
+				log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
+				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
+				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
+				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+				log_msg.body.log_GPSP.type = buf.triplet.current.type;
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
+				LOGBUFFER_WRITE_AND_COUNT(GPSP);
+			}
 		}
 
 		/* --- VICON POSITION --- */
@@ -1529,6 +1598,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_TECS_MSG;
 			log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
 			log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
+			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered;
 			log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
 			log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
 			log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;